丘陵山地拖拉机车身调平控制仿真分析与试验
|
摘要
针对丘陵山地拖拉机在复杂工况下的车身自调平问题,基于研制的新型丘陵山地拖拉机及车身四点调平机构,设计了一套车身自调平控制系统。为了提高调平精度和稳定性,采用了模糊PID控制算法进行实时动态自调平控制。应用AMEsim/Simulink联合仿真对控制系统进行计算分析,得到调平过程中前后桥调平位移、速度、流量和车身倾角变化曲线。仿真结果表明:在丘陵山地复杂工况下拖拉机调平动作跟随效果好,调平过程中车身倾角保持在5°以内,调平后车身倾角能够回到0°,具有良好的稳定性。同时,搭建了自调平试验台,采用同样的控制方法对其进行实验及仿真计算,对比实验与仿真结果可知:二者调平位移最大误差为14.23%、平均误差为5%;二者调平速度最大误差为15%、平均误差为4.52%,证明本文开发自调平控制系统及采用的控制算法具有较高的调平精度,可为丘陵山地拖拉机车身调平问题提供借鉴。
It is a difficult task to maintain level when hilly tractor is working under complex conditions.In order to solve this problem,a new self-leveling system of tractor body based on a four-point leveling structure was proposed.The PID fuzzy control algorithm was applied in the control system to simulate the performance of new self-leveling system in order to improve the leveling accuracy and stability.The change curves between attitude angles of the tractor body and displacement,velocity,flow of the front and rear wheels were analyzed through AMEsim/Simlink co-simulation.Results show that the tractor body attitude angle is within 5?in the leveling process,which can returning to0?after leveling,indicating the stability of the leveling system.After the verification of the leveling mechanism,leveling test and simulation of the self-leveling bench were carried out.Comparing resultsbetween test and simulation shows that the maximum error and the average error of displacement are14.23%and 5%,and the maximum error and average error of velocity are 15%and 5%,which verify the accuracy and good performance of the self-leveling system and the control algorithm.This work may provide reference for the design of tractor body leveling system.
It is a difficult task to maintain level when hilly tractor is working under complex conditions.In order to solve this problem,a new self-leveling system of tractor body based on a four-point leveling structure was proposed.The PID fuzzy control algorithm was applied in the control system to simulate the performance of new self-leveling system in order to improve the leveling accuracy and stability.The change curves between attitude angles of the tractor body and displacement,velocity,flow of the front and rear wheels were analyzed through AMEsim/Simlink co-simulation.Results show that the tractor body attitude angle is within 5?in the leveling process,which can returning to0?after leveling,indicating the stability of the leveling system.After the verification of the leveling mechanism,leveling test and simulation of the self-leveling bench were carried out.Comparing resultsbetween test and simulation shows that the maximum error and the average error of displacement are14.23%and 5%,and the maximum error and average error of velocity are 15%and 5%,which verify the accuracy and good performance of the self-leveling system and the control algorithm.This work may provide reference for the design of tractor body leveling system.
引文
[1]丁翔文,徐振兴.我国山区农业机械化发展分析[J].农业机械,2010(19):110-112.Ding Xiang-wen,Xu Zhen-xing.Analysis of agricultural mechanization development in mountain areas of China[J].Transactions of the Chinese Society for Agricultural Machinery,2010(19):110-112.
[2]王升升,耿令新.丘陵山区农业机械化发展现状及对策[J].农业工程,2016,5(6):1-4.Wang Sheng-sheng,Geng Ling-xin.Current situation and countermeasures of agricultural mechanization in hilly and mountainous areas[J].Agricultural Engineering,2016,5(6):1-4.
[3]王罗方.加速丘陵山区农业机械化的途径与措施[J].湖湘论坛,2015(1):56-60.Wang Luo-fang.Ways and measures to accelerate agricultural mechanization in hilly areas[J].Forum of Hunan,2015(1):56-60.
[4]李广宇,刘亚杰,张秋萍,等.吉林省丘陵山区农业机械化的现状与展望[J].陕西农业科学,2015,61(5):123-125.Li Guang-yu,Liu Ya-jie,Zhang Qiu-ping,et al.Current situation and prospect of agricultural mechanization in hilly areas of Jilin province[J].Agricultural Sciences in Shanxi,2015,61(5):123-125.
[5]周浩,胡炼,罗锡文,等.旋耕机自动调平系统设计与试验[J].农业机械学报,2016,47(10):117-123.Zhou Hao,Hu Lian,Luo Xi-wen,et al.Design and test of automatic leveling system for rotary cultivator[J].Journal of Agricultural Machinery,2016,47(10):117-123.
[6]高墨尧.丘陵山地农机动力底盘及车身调平装置研究[D].长春:吉林农业大学工程技术学院,2017.Gao Mo-yao.Study on agricultural machinery of powerd chassis and body leveling device of hilly area[D].Changchun:College of Engineering and Technology,Jilin Agricultural University,2017.
[7]王涛,杨福增,王元杰.山地拖拉机车身自动调平控制系统的设计[J].农机化研究,2014(7):232-235.Wang Tao,Yang Fu-zeng,Wang Yuan-jie.Design of body automatic leveling control system of hillside tractor[J].Journal of Agricultural Mechanization Research,2014(7):232-235.
[8]王忠山,马文星,李洪龙,等.丘陵山地拖拉机车身调平液压系统设计与分析[J].液压气动与密封,2017(10):76-80.Wang Zhong-shan,Ma Wen-xing,Li Hong-long,et al.Design and analysis of tractor body leveling hydraulic system in hilly area[J].Hydraulic Pneumatic and Seal,2017(10):76-80.
[9]张季琴,杨福增,刘美丽,等.山地微耕机液压差高装置的设计[J].拖拉机与农用运输车,2011,38(3):92-93.Zhang Ji-qin,Yang Fu-zeng,Liu Mei-li,et al.Design of an hydraulic difference in elevation equipment used in mountainous micro-tiller[J].Tractor&Farm Transporter,2011,38(3):92-93.
[10]邢宗义,张媛,侯远龙,等.电液伺服系统的建模方法研究与应用[J].系统仿真学报,2009,21(6):1719-1725.Xing Zong-yi,Zhang Yuan,Hou Yuan-long,et al.Research and application of modeling method of electro hydraulic servo system[J].Society of System Simulation,2009,21(6):1719-1725.
[11]石米娜.基于压力控制的轮腿式越野车辆自适应液压主动悬架研究[D].长春:吉林大学机械科学与工程学院,2012.Shi Mi-na.Research on the adaptive hydraulic active suspension of a wheel-legged off-road vehicle based on the pressure control[D].Changchun:College of Mechanical Sciences and Engineering,Jilin University,2012.
[12]Sun Jia,Wu Yu-hou,Zhang Ke,et al.Design of automatic leveling system for suspended working platforms base on PLC[C]∥The International Conference on Advances in Construction Machinery and Vehicle Engineering,Changchun,China,2009.
[13]Pijuan J,Comellas M,Nogues M,et al.Active bogies and chassis levelling for a vehicle operating in rough terrain[J].Journal of Terramechanics,2012,49(3):161-171.
[14]Xie Y M,Alleyne A.Two degree of freedom control synthesis with applications to agricultural systems[J].Journal of Dynamic Systems Measurement and Control,2014,136(5):051006.
[15]王涛.山地拖拉机车身自动调平控制系统的设计与试验[D].杨凌:西北农林科技大学机械与电子工程学院,2014.Wang Tao.Design and test of automatic leveling control system for mountain tractor body[D].Yanglin:College of Mechnical and Electronic Engineering,Northwest Agriculture and Forestry University,2014.
[16]徐峰,李广宇,高莫尧,等.一种山地拖拉机车身调平控制系统设计[J].农业与技术,2017,37(17):59-61.Xu Feng,Li Guang-yu,Gao Mo-yao,et al.Design of leveling control system for mountain tractor body[J].Agriculture and Technology,2017,37(17):59-61.
[17]彭贺,马文星,王忠山,等.丘陵山地轮式拖拉机车身调平系统设计与物理模型试验[J].农业工程学报,2018,34(14):28-37.Peng He,Ma Wen-xing,Wang Zhong-shan,et al.Design and physical model experimental of leveling system in hillside wheeled tractor body[J].Society of Agricultural Engineering,2018,34(14):28-37.
[18]邢瑞,赵河明,杨培靖,等.基于模糊PID的电液位置伺服系统仿真与试验[J].矿山机械,2016,44(7):90-93.Xing Rui,Zhao He-ming,Yang Pei-jing,et al.Simulation and test of electro-hydraulic position servo systembased on fuzzy PID control[J].Mining Machinery,2016,44(7):90-93.
[19]付甜甜,朱玉川,顾亚军.基于MATLAB-AMESim的电液伺服系统模糊PID控制[J].机床与液压,2016,20(44):144-146.Fu Tian-tian,Zhu Yu-chuan,Gu Ya-jun.Research on Fuzzy PID control of electro-hydraulic Servo system based on MATLAB-AMESim Joint simulation[J].Machine Tools and Hydraulics,2016,20(44):144-146.
[20]付永领,齐海涛.LMS Imagine.Lab AMESim系统建模和仿真[M].北京:北京航空航天大学出版社,2011:1-5.
[21]石辛民,郝整清.模糊控制及其MATLAB仿真[M].北京:清华大学出版社,2008:121-123.
[22]巴少男,袁锐波,刘森,等.基于AMESim和Matlab/Simulink联合仿真的模糊PID控制气动伺服系统研究[J].科学技术与工程,2010,9(10):2220-2223.Ba Shao-nan,Yuan Rui-bo,Liu Sen,et al.Co-simulation of fuzzy PID control of pneumatic servo system based on AMESim and Matlab/Simulink[J].Science and Technology and Engineering,2010,9(10):2220-2223.
[2]王升升,耿令新.丘陵山区农业机械化发展现状及对策[J].农业工程,2016,5(6):1-4.Wang Sheng-sheng,Geng Ling-xin.Current situation and countermeasures of agricultural mechanization in hilly and mountainous areas[J].Agricultural Engineering,2016,5(6):1-4.
[3]王罗方.加速丘陵山区农业机械化的途径与措施[J].湖湘论坛,2015(1):56-60.Wang Luo-fang.Ways and measures to accelerate agricultural mechanization in hilly areas[J].Forum of Hunan,2015(1):56-60.
[4]李广宇,刘亚杰,张秋萍,等.吉林省丘陵山区农业机械化的现状与展望[J].陕西农业科学,2015,61(5):123-125.Li Guang-yu,Liu Ya-jie,Zhang Qiu-ping,et al.Current situation and prospect of agricultural mechanization in hilly areas of Jilin province[J].Agricultural Sciences in Shanxi,2015,61(5):123-125.
[5]周浩,胡炼,罗锡文,等.旋耕机自动调平系统设计与试验[J].农业机械学报,2016,47(10):117-123.Zhou Hao,Hu Lian,Luo Xi-wen,et al.Design and test of automatic leveling system for rotary cultivator[J].Journal of Agricultural Machinery,2016,47(10):117-123.
[6]高墨尧.丘陵山地农机动力底盘及车身调平装置研究[D].长春:吉林农业大学工程技术学院,2017.Gao Mo-yao.Study on agricultural machinery of powerd chassis and body leveling device of hilly area[D].Changchun:College of Engineering and Technology,Jilin Agricultural University,2017.
[7]王涛,杨福增,王元杰.山地拖拉机车身自动调平控制系统的设计[J].农机化研究,2014(7):232-235.Wang Tao,Yang Fu-zeng,Wang Yuan-jie.Design of body automatic leveling control system of hillside tractor[J].Journal of Agricultural Mechanization Research,2014(7):232-235.
[8]王忠山,马文星,李洪龙,等.丘陵山地拖拉机车身调平液压系统设计与分析[J].液压气动与密封,2017(10):76-80.Wang Zhong-shan,Ma Wen-xing,Li Hong-long,et al.Design and analysis of tractor body leveling hydraulic system in hilly area[J].Hydraulic Pneumatic and Seal,2017(10):76-80.
[9]张季琴,杨福增,刘美丽,等.山地微耕机液压差高装置的设计[J].拖拉机与农用运输车,2011,38(3):92-93.Zhang Ji-qin,Yang Fu-zeng,Liu Mei-li,et al.Design of an hydraulic difference in elevation equipment used in mountainous micro-tiller[J].Tractor&Farm Transporter,2011,38(3):92-93.
[10]邢宗义,张媛,侯远龙,等.电液伺服系统的建模方法研究与应用[J].系统仿真学报,2009,21(6):1719-1725.Xing Zong-yi,Zhang Yuan,Hou Yuan-long,et al.Research and application of modeling method of electro hydraulic servo system[J].Society of System Simulation,2009,21(6):1719-1725.
[11]石米娜.基于压力控制的轮腿式越野车辆自适应液压主动悬架研究[D].长春:吉林大学机械科学与工程学院,2012.Shi Mi-na.Research on the adaptive hydraulic active suspension of a wheel-legged off-road vehicle based on the pressure control[D].Changchun:College of Mechanical Sciences and Engineering,Jilin University,2012.
[12]Sun Jia,Wu Yu-hou,Zhang Ke,et al.Design of automatic leveling system for suspended working platforms base on PLC[C]∥The International Conference on Advances in Construction Machinery and Vehicle Engineering,Changchun,China,2009.
[13]Pijuan J,Comellas M,Nogues M,et al.Active bogies and chassis levelling for a vehicle operating in rough terrain[J].Journal of Terramechanics,2012,49(3):161-171.
[14]Xie Y M,Alleyne A.Two degree of freedom control synthesis with applications to agricultural systems[J].Journal of Dynamic Systems Measurement and Control,2014,136(5):051006.
[15]王涛.山地拖拉机车身自动调平控制系统的设计与试验[D].杨凌:西北农林科技大学机械与电子工程学院,2014.Wang Tao.Design and test of automatic leveling control system for mountain tractor body[D].Yanglin:College of Mechnical and Electronic Engineering,Northwest Agriculture and Forestry University,2014.
[16]徐峰,李广宇,高莫尧,等.一种山地拖拉机车身调平控制系统设计[J].农业与技术,2017,37(17):59-61.Xu Feng,Li Guang-yu,Gao Mo-yao,et al.Design of leveling control system for mountain tractor body[J].Agriculture and Technology,2017,37(17):59-61.
[17]彭贺,马文星,王忠山,等.丘陵山地轮式拖拉机车身调平系统设计与物理模型试验[J].农业工程学报,2018,34(14):28-37.Peng He,Ma Wen-xing,Wang Zhong-shan,et al.Design and physical model experimental of leveling system in hillside wheeled tractor body[J].Society of Agricultural Engineering,2018,34(14):28-37.
[18]邢瑞,赵河明,杨培靖,等.基于模糊PID的电液位置伺服系统仿真与试验[J].矿山机械,2016,44(7):90-93.Xing Rui,Zhao He-ming,Yang Pei-jing,et al.Simulation and test of electro-hydraulic position servo systembased on fuzzy PID control[J].Mining Machinery,2016,44(7):90-93.
[19]付甜甜,朱玉川,顾亚军.基于MATLAB-AMESim的电液伺服系统模糊PID控制[J].机床与液压,2016,20(44):144-146.Fu Tian-tian,Zhu Yu-chuan,Gu Ya-jun.Research on Fuzzy PID control of electro-hydraulic Servo system based on MATLAB-AMESim Joint simulation[J].Machine Tools and Hydraulics,2016,20(44):144-146.
[20]付永领,齐海涛.LMS Imagine.Lab AMESim系统建模和仿真[M].北京:北京航空航天大学出版社,2011:1-5.
[21]石辛民,郝整清.模糊控制及其MATLAB仿真[M].北京:清华大学出版社,2008:121-123.
[22]巴少男,袁锐波,刘森,等.基于AMESim和Matlab/Simulink联合仿真的模糊PID控制气动伺服系统研究[J].科学技术与工程,2010,9(10):2220-2223.Ba Shao-nan,Yuan Rui-bo,Liu Sen,et al.Co-simulation of fuzzy PID control of pneumatic servo system based on AMESim and Matlab/Simulink[J].Science and Technology and Engineering,2010,9(10):2220-2223.