摘要
为了解决传统电控液压悬挂无法根据坡地的横向坡度对机具侧倾角进行调整的问题,提出了一种坡地自适应电控液压悬挂反馈控制系统.提出了一种利用卡尔曼滤波方法对机具理想侧倾角进行估计的预测方法;建立了电控液压悬挂机构的动力学模型;在Simulink平台下对某一典型二自由度拖拉机机具悬挂机构搭建了控制系统模型,并利用实际采集的拖拉机作业坡地路面谱数据作为模型输入信号进行了仿真.结果表明:该自适应电控液压悬挂反馈控制系统能够有效控制拖拉机悬挂机具横向耕深波动在±10 mm以内.
To solve the problem that the traditional electro-hydraulic hitch could not adapt the lateral angel for tillage on slope,a feedback control system of adaptive electro-hydraulic hitch was designed.The method of predicting the hitch lateral inclination angle was proposed by Kalman prediction algorithm.The dynamic model of lateral inclination angle adaptive electro-hydraulic hitch was set up.The control system model with the above dynamic model of hitch was established in Simulink.The actual measured transverse slope was used as model input signal to verify the performance of control system.The results show that the fluctuation of lateral tillage error can be controlled within±10 mm.
作者
陈晨
夏长高
韩江义
杨宏图
CHEN Chen;XIA Changgao;HAN Jiangyi;YANG Hongtu(School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China)
出处
《江苏大学学报（自然科学版）》
EI
CAS
北大核心
2020年第2期181-186,共6页
Journal of Jiangsu University：Natural Science Edition
基金
国家重点研发计划项目(2016YFD0700400)。
