果园作业车稳定性控制方法研究

Stability Control Method for Orchard Vehicle

针对果园作业车运动特点,建立整车侧倾、俯仰模型和轮胎模型,并推导出主动转向稳定性控制模型;以该控制方法为基础,在Matlab/Sim Mechanics中构建车辆仿真分析模型,模拟果园作业车在不同工况条件下的运动状态,并将PID控制算法融入主动转向控制模型,实现车辆运动稳定性控制,借助模型仿真分析证明控制模型的可行性与有效性;通过实车比例模型与仿真分析模型对比试验,进一步验证Matlab/Sim Mechanics仿真模型与实车模型的一致性与实用性。

Orchard vehicle is not only a modernized orchard management platform, but also a frnit-transit station. Its lifting platform can reconcile the needs of working on the ground and in the air to meet all kinds of actual requirements. But working conditions in orchard are complicated （like uneven and rolling ground） and the lifting platform has a relatively high mass center and a changing load, which are easy to cause rollover and pitch accidents. Aiming at the high frequency of vehicle rollover accident and the serious consequence it may bring about, this paper first developed two simplified linear dynamic models to analyze the force situation in rollover and pitch, then an orchard vehicle active steering control model was established based on dynamic orchard vehicle model and tyre model. After that, in Matlab! SimMechanics modular, applying control law, the orchard vehicle body model, tyre model, ground model and control model were constructed individually, and combining all the models with the orchard vehicle active steering PID simulation control model. Finally, comparative experiments of scaled orchard vehicle model and simulation analysis model were conducted to validate the practicability of Matlab/ SimMeehanics simulation model. Results show the SimMechanics model is sufficiently realistic to simulate the vehicle＇ s motion and the control law is capable to enhance the stability of orchard management platform, which provides references for follow-on study on stability control of orchard vehicle.