拖拉机电液悬挂控制系统研究

发布时间：2018-01-15 00:17

本文关键词：拖拉机电液悬挂控制系统研究　出处：《湖北工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着现代科学技术的发展,农业生产正由机械化向智能化转型。目前,传统的拖拉机液压悬挂系统正逐渐被电液悬挂系统所取代,而智能控制技术、计算机技术的日益发展,使得机电液一体化技术越来越成熟,拖拉机电液悬挂系统的控制技术取得飞速进步。本文着眼于拖拉机电液悬挂控制系统的研究,将嵌入式分布式控制技术、智能控制技术、CAN总线技术等应用于拖拉机电液悬挂控制系统,对相关的控制技术进行了深入地分析研究。以拖拉机电液悬挂控制系统为研究对象,设计了一套电液悬挂系统的实验平台,首先对液压、悬挂、电控这三个主要模块的组成、工作原理以及相互关系进行了阐述;重点对液压模块进行了建模仿真分析,验证了系统的稳定性与可靠性,为进行电液悬挂控制技术的研究奠定了基础。根据设计的电液悬挂系统,对不同控制方法进行了对比分析,提出了基于加权系数的力位综合控制法。针对不同的工作环境,设计了电液悬挂系统的控制方案,对加权系数的调整方案进行分析,提出了基于BP神经网络的自动调整方式,并进行了仿真验证。结合电液悬挂系统的作业特点,加入了模糊控制算法,设计了耕深模糊控制器,并对控制系统进行仿真分析,结果表明力位综合控制技术以及模糊控制算法对耕深的自适应调节具有良好的控制效果。在此基础上,搭建了嵌入式分布式控制原型系统,开发了基于UCGUI图形人机交互系统的监控终端,用于输入控制命令以及监控系统参数;设计实现了由硬件电路模块和包含加权系数自动调整子程序、模糊控制子程序、AD采集子程序等在内的各程序模块组成的液压控制节点,用于对液压油缸的控制以及系统工作参数的检测;制定了CAN总线通信协议,实现了基于CAN总线的监控终端和液压控制节点之间系统通讯;采用模块机构思想设计了电源系统,提高了系统的稳定性和可靠性。最后,在实验平台上进行了控制系统的实验验证,包括比例阀驱动实验、犁具提升和下降实验、耕深响应实验、模拟阻力加载实验以及力位综合控制实验。通过实验数据分析,证明了控制系统的硬件和软件框架是稳定可靠的,控制系统的控制方案能够实现对耕深的自适应调节和稳定性调节。
[Abstract]:With the development of modern science and technology, agricultural production is changing from mechanization to intellectualization. At present, the traditional tractor hydraulic suspension system is gradually replaced by electro-hydraulic suspension system, and intelligent control technology. With the development of computer technology, the electrohydraulic integration technology is more and more mature, and the control technology of tractor electro-hydraulic suspension system has made rapid progress. This paper focuses on the research of tractor electro-hydraulic suspension control system. The embedded distributed control technology, intelligent control technology and can bus technology are applied to the tractor electro-hydraulic suspension control system. Taking the tractor electro-hydraulic suspension control system as the research object, a set of experimental platform of electro-hydraulic suspension system is designed. The composition, working principle and relationship of the three main modules of electronic control are expounded. The modeling and simulation analysis of the hydraulic module is carried out, which verifies the stability and reliability of the system, and lays a foundation for the research of the electro-hydraulic suspension control technology, according to the design of the electro-hydraulic suspension system. Through the comparison and analysis of different control methods, a force position integrated control method based on weighting coefficient is put forward, and the control scheme of electro-hydraulic suspension system is designed for different working environment. Based on the analysis of the adjustment scheme of the weighting coefficient, the automatic adjustment method based on BP neural network is put forward, and the simulation is carried out. According to the characteristics of the electro-hydraulic suspension system, a fuzzy control algorithm is added. The fuzzy controller of tillage depth is designed and the simulation analysis of the control system is carried out. The results show that the integrated control technology and fuzzy control algorithm have good control effect on the adaptive regulation of tillage depth. An embedded distributed control prototype system is built, and a monitoring terminal based on UCGUI graphics human-computer interaction system is developed, which is used to input control commands and monitor system parameters. The hydraulic control node is designed and implemented by hardware circuit module, each program module including automatic adjustment of weighting coefficient, fuzzy control subroutine AD acquisition subroutine and so on. It is used to control the hydraulic cylinder and detect the working parameters of the system. The communication protocol of CAN bus is established, and the communication between monitoring terminal and hydraulic control node based on CAN bus is realized. The power supply system is designed with the thought of modular mechanism, which improves the stability and reliability of the system. Finally, the experimental verification of the control system is carried out on the experimental platform, including the proportional valve drive experiment. The experiment of plow lifting and falling, the experiment of depth response, the experiment of simulated resistance loading and the experiment of integrated control of force and position are carried out. The analysis of experimental data shows that the hardware and software framework of the control system is stable and reliable. The control scheme of the control system can realize adaptive regulation and stability regulation of tillage depth.
【学位授予单位】：湖北工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：S219.02

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