拖拉机自动驾驶液压转向控制系统分析及仿真
发布时间：2019-02-15 04:38
【摘要】：我国作为人口大国,农业发展对国家至关重要。传统型农机作业效率低,劳动力成本高,因此,发展现代化农业对我国来说已成为必然趋势。农机自动导航驾驶技术作为现代化农业中不可或缺的一部分,可以有效提高土地利用率,降低驾驶员疲劳程度。农机自动导航首先要实现拖拉机的自动液压转向控制。本文以福田雷沃M1104-D拖拉机为实验平台,结合其液压转向特点以及自动转向控制的工作要求,设计了一套拖拉机自动驾驶液压转向控制系统,实现拖拉机按规划路径自动行驶。结合福田雷沃M1104-D拖拉机的结构特点和性能参数确定液压转向控制的改造方案,并根据改造方案选择合理的液压改造元件;在确定改造系统硬件的基础上选择功能齐全的控制器,实现各部件间的信息传递。利用SimHydraulics工具箱对液压改造系统进行仿真测试,检验改造系统的可行性与可靠性。该改造系统在不同状况下均可有效完成自动转向指令。根据拖拉机按规划路径自动行驶的要求,提出路径跟踪控制算法,并对所提出的几何跟踪算法进行仿真分析。由分析结果得出,几何跟踪算法可实现拖拉机的自动路径跟踪控制,控制效果较好。液压仿真结果表明,应用带死区PD算法的闭环液压系统稳定性较高,系统响应性较好。运用几何跟踪算法,在航向角偏差15°,初始横向偏差0.2m,几何跟踪距离2.5m时,车辆在3s左右回到ab线,满足车辆路径跟踪要求。
[Abstract]:China as a large population, agricultural development is of great importance to the country. Traditional agricultural machinery has low efficiency and high labor cost. Therefore, the development of modern agriculture has become an inevitable trend in China. As an indispensable part of modern agriculture, automatic navigation and driving technology of agricultural machinery can effectively improve land use efficiency and reduce driver fatigue. First of all, the automatic hydraulic steering control of the tractor should be realized in the automatic navigation of agricultural machinery. Based on Futian Revo M1104-D tractor, a hydraulic steering control system for tractor self-driving is designed in this paper, based on its hydraulic steering characteristics and the requirements of automatic steering control. The tractor runs automatically according to the planned path. According to the structural characteristics and performance parameters of Futian Revo M1104-D tractor, the revamping scheme of hydraulic steering control is determined, and a reasonable hydraulic revamping element is selected according to the revamping scheme. On the basis of determining the hardware of the reformed system, the controller with complete functions is selected to realize the information transmission between the components. The SimHydraulics toolbox is used to simulate and test the hydraulic revamping system, and the feasibility and reliability of the revamping system are verified. The modification system can effectively complete the automatic steering instruction under different conditions. According to the requirements of the tractor running automatically according to the planned path, a path tracking control algorithm is proposed, and the simulation analysis of the proposed geometric tracking algorithm is carried out. From the analysis results, it is concluded that the geometric tracking algorithm can realize the automatic path tracking control of tractor, and the control effect is better. The hydraulic simulation results show that the closed-loop hydraulic system with dead-time PD algorithm is more stable and the system response is better. With geometric tracking algorithm, when the heading angle deviation is 15 掳, the initial transverse deviation is 0.2 m, and the geometric tracking distance is 2.5 m, the vehicle returns to the ab line at about 3 s to meet the requirements of vehicle path tracking.
【学位授予单位】：武汉轻工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：S219.03
[Abstract]:China as a large population, agricultural development is of great importance to the country. Traditional agricultural machinery has low efficiency and high labor cost. Therefore, the development of modern agriculture has become an inevitable trend in China. As an indispensable part of modern agriculture, automatic navigation and driving technology of agricultural machinery can effectively improve land use efficiency and reduce driver fatigue. First of all, the automatic hydraulic steering control of the tractor should be realized in the automatic navigation of agricultural machinery. Based on Futian Revo M1104-D tractor, a hydraulic steering control system for tractor self-driving is designed in this paper, based on its hydraulic steering characteristics and the requirements of automatic steering control. The tractor runs automatically according to the planned path. According to the structural characteristics and performance parameters of Futian Revo M1104-D tractor, the revamping scheme of hydraulic steering control is determined, and a reasonable hydraulic revamping element is selected according to the revamping scheme. On the basis of determining the hardware of the reformed system, the controller with complete functions is selected to realize the information transmission between the components. The SimHydraulics toolbox is used to simulate and test the hydraulic revamping system, and the feasibility and reliability of the revamping system are verified. The modification system can effectively complete the automatic steering instruction under different conditions. According to the requirements of the tractor running automatically according to the planned path, a path tracking control algorithm is proposed, and the simulation analysis of the proposed geometric tracking algorithm is carried out. From the analysis results, it is concluded that the geometric tracking algorithm can realize the automatic path tracking control of tractor, and the control effect is better. The hydraulic simulation results show that the closed-loop hydraulic system with dead-time PD algorithm is more stable and the system response is better. With geometric tracking algorithm, when the heading angle deviation is 15 掳, the initial transverse deviation is 0.2 m, and the geometric tracking distance is 2.5 m, the vehicle returns to the ab line at about 3 s to meet the requirements of vehicle path tracking.
【学位授予单位】：武汉轻工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：S219.03
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