摘要
我国拖拉机主要以手动操作为主,为提高拖拉机的作业强度、精度和效率,替代人工操作,为无线远距离控制、高精度自主导航、机械视觉导航和物联网等相关作业技术提供拖拉机运动控制接口,提出了在柴油发动机驱动履带式拖拉机底盘上搭载电子油门控制装置和电控液压转向装置的设计方案,可实现远程无线遥控固定角度转向、车速控制和实时返回状态数据等功能。试验表明:电子油门控制装置对油门拉杆控制响应速度快、控制准确,固定角度转向误差在±3°范围内,调试遥控器稳定控制距离350m,上位机无线接收稳定数据距离200 m。研究成果可为拖拉机运动控制系统设计与改进提供参考。
China’s tractors are mainly operated manually.In order to improve the tractor's operating intensity precision and efficiency and to replace manual operation,this paper provides tractor motion control interface for wireless remote control,high-precision autonomous navigation,mechanical vision navigation and Internet of things etc.This paper proposes design scheme of electronic throttle control device and electronic hydraulic steering device on diesel engine driven crawler tractor chassis.It can realize functions of remote wireless remote control of fixed angle steering,speed control and real-time return state data functions of remote wireless control.Experiments show that electronic throttle control device has fast response speed and accurate control for it.Fixed angle steering error is within±3°range and the control distance of the controller is 350 m.Wireless receiving stable data distance from host computer is 200 m.The research results can provide reference for the design and improvement of tractor motion control system.
作者
宋裕民
梁健明
邱绪云
李爱娟
赵林亭
Song Yumin;Liang Jianming;Qiu Xuyun;Li Aijuan;Zhao Linting(Shandong Academy of Agricultural Machinery Sciences,Jinan 250100,China;Shandong Jiaotong University,Jinan 250357,China)
出处
《农机化研究》
北大核心
2019年第7期242-248,共7页
Journal of Agricultural Mechanization Research
基金
山东省重点研发计划项目(2016GNC112010
2017NC212002)
山东省农机装备研发创新计划项目(2017YF013)
关键词
履带拖拉机
无线遥控
电子油门
液压转向
tracked tractor
wireless remote control
electronic throttle
hydraulic steering
