摘要
针对拖拉机的全液压转向系设计了基于TMS320F2812DSP的电液转向控制系统,硬件部分包括DSP芯片及PWM电控器等接口电路,软件部分设计了带非线性补偿的PID控制算法,选用比例电磁换向阀、角位移传感器构建了试验平台,进行了算法参数确定试验和导向信号跟踪转向试验。结果表明控制系统的转向角误差小于7%,平均滞后时间为0.15s,能为自动导向提供理论基础。
An electrohydraulic （E/H） steering control system was designed for tractors with hydraulic steering system. The hardware of system included a TMS320F2812 DSP （digital signal processor） and its interface circuits such as PWM （pulse width modulation） controller and others. The control algorithm adopted was PID （proportional-integral：differential） control with nonlinear compensation method. A TD654L type of tractor was taken as research platform mounted with proportional directional valve and angle sensor. Tests had been taken to identify the parameters of algorithms and implement automatic steering following guidance signal. The results of track test with guidance signal from guidance generator showed that the steering offset was less than 7% and the average of lag time was 0.15 s. It provided a research base for automatic guidance.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2007年第5期1-5,10,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
农业部引进国际先进农业科学技术计划资助项目(项目编号:2004-Q1)
关键词
拖拉机
转向控制系统
设计
试验
Tractor, Steering control system, Design, Experiment
