偏航对预测零转弯半径割草机连续翻滚特性的影响

Effect of Yaw on Continuous Rolling Characteristics of Zero-Turning Radius Mower

为了提高零转弯半径割草机(Zero Turning Radius Mower)在斜坡作业时连续翻滚特性的预测精度,建立了基于偏航的6自由度ZTR割草机连续翻滚特性的预测模型,将偏航分为初始偏航和动态偏航进行研究,得到了割草机偏航和滑移过程中的力学平衡方程。对偏航和滑移过程进行了运动分解,得到了偏航和滑移的动力学方程,并通过Mat Lab软件求解该预测模型。为了验证模型的有效性,以某零转弯半径割草机为研究对象,针对割幅不同的割草器进行了连续翻滚实验验证。结果表明:相对误差最小仅为2.4%,基于偏航和滑移的零转弯半径割草机连续翻滚模型有效地预测了割草机的CRH(翻滚保护装置临界高度)。此预测模型可以为不同割幅的ZTR割草机选取合适高度的翻滚保护装置,以避免连续翻滚。

In order to improve the prediction accuracy of the continuous rolling characteristic of the zero turning radius mower during the slope operation, a prediction model of the continuous rollover characteristic based on yaw of the 6-degree-of-freedom ZTR mower is established. The study of yaw is divided into the initial yaw and the dynamic yaw .The mechanics equilibrium equation in the yaw and slip processes of the mower was obtained. The kinematic equations of yaw and slip are obtained by the motion decomposition of the yaw and slip processes, and the prediction model is solved by Matlab software. In order to verify the validity of the model, this paper takes a zero-turning radius mower as the research object, and carries out the continuous rollover experiment to verify the different mowers. The results show that the minimum relative error is only 2.4%, and the zero-turning radius mower continuous rollover model based on yaw and slip is effective in predicting the CRH of the mower (the critical height of the ROPS). This prediction model can select a suitable height of the ROPS for different ZTR mowers to avoid continuous rollover.