摘要
花生收获机通常工作在地形复杂、凹凸不平的松软路面上,难以实现平稳的运行,速度与质心的波动会影响挖掘铲的工作性能。为了解决上述问题,保证花生收获机在工作时可以平稳行驶并确保立轴与挖掘铲可以始终工作在合理的工作高度,对花生收获机的底盘行驶机构与挖掘铲的控制问题进行了研究。首先建立了花生收获机-地面土力学模型与花生收获机底盘行驶机构模型,进而基于挖掘铲工作高度、入土深度的实验数据,建立了挖掘铲控制机构与底盘行驶机构之间的动态协调控制策略,实现系统的自适应控制。仿真分析表明,挖掘铲的高度波动降低了36.7%,所设计的自适应控制系统可以实现花生收获机更为平稳的运行。
Peanut harvester is normally work in complex terrain,uneven soft road environment,difficult to achieve a smooth running,speed and mass center of fluctuation will affect the work performance of a digging shovel.In order to solve the above problems,ensure smooth driving of peanut harvester can at work and ensure the vertical shaft and digging shovel can always work in a reasonable working height,chassis driving mechanism of peanut harvester and digging shovel control problem is studied,first peanut harvester-ground soil mechanics model is established with peanut harvester chassis driving mechanism model,and then based on the digging shovel work height,buried depth of the experimental data,a digging shovel control mechanism is established with chassis dynamic coordinated control strategy between driving mechanism,the adaptive control system.Simulation analysis show that the height of the digging shovel fluctuation was reduced by 21.4%,the design of the adaptive control system can realize the peanut harvesting machine run more smoothly.
出处
《农机化研究》
北大核心
2014年第11期10-13,共4页
Journal of Agricultural Mechanization Research
基金
中央高校基本科研业务费资金资助项目(N110303007)
关键词
花生收获机
自适应控制
土壤力学
建模仿真
peanut harvester
self-adaption control
soil mechanics
modeling and simulation
