摘要
在室内土槽的模型拖拉机上实现了滑转率数字式 PD 控制,通过调节耕作阻力使滑转率稳定在设定值附近,从而可以减少耕作过程中过度的滑转能量损失,防止拖拉机在湿软土壤上原地打滑不能行进的情况发生。为减少在滑转率设定值附近耕作阻力的频繁调节,现采用带死区的PD 控制。
Proportional-derivative(PD)control with a dead band algorithm is suc- cessfully used for the model tractor wheel-slip system.The tractor wheel-slip is maintained around the predetermined value through adjusting the tillage resistance. This will reduce the tractor energy loss and prevent the tractor wheel empty run- ning without forward speed on wet ground.The performance of PD control is illus- trated by the indoor test on an indoor soil bin.
基金
国家自然科学基金
