摘要
针对马铃薯联合收获机输送臂系统的结构,提出了基于Adams-Matlab的联合仿真方法和防碰撞控制的限位算法;在对运动防碰问题分析的基础上,对二自由度输送臂系统的运动防碰进行了仿真分析,得出了输送臂转角θ1和θ2关于时间的变化曲线,以及输送臂与马铃薯距离、输送臂与车斗壁距离随时间的变化曲线,证明了限位算法和控制方法的可行性,有效解决了输送臂运动防碰问题。
Aiming at the elevator equipment of potato harvester, an integration simulation method based on Adams-Matlab and limit algorithms used in anti-collision control was proposed. The simulation and pre-description on the anti-collisions of two-freedom elevator were carried out by analyzing the anti-collision problem. The curves of angle θ1 and θ2 of potato harvester elevator with the time, the curves of distance between the end of harvester elevator and potato pile with the time, and the curves of distance between the elevator and the trailer with the time, were obtained respectively. The results showed that the limit algorithm and control method for this case was feasible, and the anti-collision of elevator motion was satisfying.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2007年第11期52-55,共4页
Transactions of the Chinese Society for Agricultural Machinery
基金
"十五"国家科技攻关计划资助项目(项目编号:2004BA524B)
