非道路动力底盘线控四轮独立转向控制系统研究

发布时间：2018-06-27 19:41

本文选题：非道路 + 四轮独立转向　；参考：《农机化研究》2017年07期

【摘要】：我国苜蓿主要生产区为甘肃、宁夏等路况复杂的山地丘陵地带,用于苜蓿收获的非道路动力底盘的行驶灵活性将直接影响其作业性能。为改善其低速工况下的行驶灵活性,基于车辆三自由度动力学模型提出了非道路动力底盘以跟随已知路线前进为目标的多种工况下的分层控制策略,搭建了四轮转向硬件在环实验平台,并进行了仿真实验。实验结果表明:动力底盘模型能够实现轨迹跟随、原地转向及斜向行驶,质心位置最大偏差为0.6 4 1 8 m,中心线方向最大偏差为3.3 0 9 6 rad。开发的控制系统取得较好的半实物仿真效果,为改善非道路动力底盘低速情况下转向灵活性提供了理论基础。
[Abstract]:The main production areas of alfalfa in China are Gansu Ningxia and other mountainous hilly areas with complex road conditions. The driving flexibility of the non-road power chassis used for alfalfa harvesting will directly affect its performance. In order to improve the driving flexibility at low speed, a layered control strategy for non-road power chassis is proposed based on the three-degree-of-freedom dynamic model of the vehicle, which aims at following the known route. A four-wheel steering hardware in-loop experimental platform is built, and the simulation experiment is carried out. The experimental results show that the power chassis model can follow the track, turn in situ and drive diagonally. The maximum deviation of the center of mass position is 0.6 418 m, and the maximum deviation of the center line direction is 3.09 6 rad. The development of the control system has achieved a good result of hardware-in-the-loop simulation, which provides a theoretical basis for improving the steering flexibility of the non-road power chassis at low speed.
【作者单位】：中国农业大学工学院;
【基金】：公益性行业(农业)科研专项(201203024)
【分类号】：S817.11

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