摘要
目前喷杆悬架系统的性能田间测试受到测试地形、土壤属性、驾驶熟练度等随机因素的影响,需要有一种定量评估喷杆悬架性能的试验装置与方法。该文开发了一套喷杆悬架性能室内测试平台,包括一个多自由度底盘运动模拟平台、地形起伏模拟平台及基于NI PXI的同步触发测控系统。为准确模拟实际的工作环境,在喷雾机作业现场采集了底盘的运动姿态信号和喷杆两侧地形高程数据,并在室内进行精确复现。考虑测试时传感器安装位置和不同喷杆理想作业高度的差异,对传统的Hockley指数进行了修正,并使用标准差、变异系数、修正的Hockley指数等3种指标一起来描述喷杆悬架系统的性能,弥补了各自的局限性。通过喷杆悬架测试平台先后对28 m喷杆在无悬架、被动悬架、主动悬架等不同工况下进行了测试,多组重复测试结果的变异系数小于5.91%,无悬架时喷杆的Hockley指数为21.60,使用被动悬架时喷杆的Hockley指数为68.37,使用主动倾角控制系统时喷杆的Hockley指数为89.18,使用主动喷臂控制系统时的Hockley指数为92.83,表明测试平台与评价指标对不同悬架系统有较好的区分度和适用性。该文设计的测试平台可为喷杆悬架性能参数的限定和评价方法的完善提供参考。
Boom suspension is an important device that affects the uniformity of droplet deposition distribution on the sprayers, but the field testing and evaluation of the stability of the suspension system are affected by a number of random factors, such as test topography, soil properties, driving proficiency, etc. Therefore, a set of boom stability indoor test platform was designed, including a 6 degrees of freedom chassis motion simulation platform, terrain relief simulation platform and NI PXI-based synchronous trigger measurement and control system, and a test method for quantitative evaluation of suspension stability was proposed. The 6 degrees of freedom platform was designed based on Stewart parallel mechanism, which had special field excitation spectrum reproducing function and excitation spectrum database for the dynamic simulation of the boom, and it could be used to simulate the motion of the chassis in the field of the sprayer. The control system of terrain undulation simulation test rig adopted an upper-lower structure, took NI PXI control computer as the upper computer. The DSP microcomputer was used as the lower computer to receive the position instructions sent by the upper computer, control the rotation of the servo motor, and realize the simulation of ground undulation through the ball screw. In order to accurately simulate the real field working environment, the motion posture signal of the chassis and the terrain elevation data on both sides of the boom were collected at the sprayer work site. During the sprayer working in the field, a dual GPS aided inertial attitude measurement system was used to collect the motion signal of the sprayer chassis, and 2 ultrasonic sensors were installed on both sides of the boom, then the height data of the ground were measured along the direction of the sprayer. Considering the difference between the installation position of the sensor and the ideal operating height of different spray rods, the original Hockley index had been revised to describe the performance of t
作者
崔龙飞
薛新宇
乐飞翔
丁素明
Cui Longfei;Xue Xinyu;Le Feixiang;Ding Suming(Nanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China)
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2019年第16期23-31,共9页
Transactions of the Chinese Society of Agricultural Engineering
基金
国家自然科学基金资助项目(51605236)
国家重点研发计划:水田自走式植保机械研究开发(2017YFD0700905),国家重点研发计划:地面与航空高工效施药技术及智能化装备(2016YFD0200705)
关键词
机械化
喷雾
设计
喷杆喷雾机
被动悬架
主动悬架
测试平台
评价方法
mechanization
spraying
design
boom sprayer
passive suspension
active suspension
test platform
evaluation method
