摘要
提出一种基于PD控制的水田作业移动平台电控液压转向系统,基于AMESim和Simulink软件进行联合仿真,仿真结果表明,当目标转向角为20°和10°时,达到目标角度时间分别为1.3、0.8 s,响应时间较快。基于自建移动平台进行实车试验,试验结果表明,转角到达20°时响应时间为1.5 s,转角到达10°时响应时间为1.1 s,且前轮转角偏差不超过0.3°,试验验证了电控液压转向系统具有较好的动态响应性能和较高的控制精度。
An electrically controlled hydraulic steering system for a mobile platform in paddy field is proposed based on PD control.Co-simulation is carried out based on AMESim and Simulink software.The simulation results show that when the target steering Angle is 10°and 20°,the time to reach the target Angle is 0.8 s and 1.3 s respectively,and the response time is faster.Based on the self-built mobile platform,the actual vehicle test shows that the response time is 1.7 s when the Angle reaches 20°,and 1.3 s when the Angle reaches 10°,and the front wheel Angle deviation is no more than 0.3°.The test verifies that the electrically controlled hydraulic steering system has better dynamic response performance and higher control accuracy.
作者
李江
杨光友
Li Jiang;Yang Guangyou(Research and Design Institute of Agricultural Machinery Engineering,Hubei University of Technology,Wuhan 430068,China;Hubei Agricultural Machinery and Equipment Intelligent Engineering Technology Research Center,Wuhan 430068,China)
出处
《现代农业装备》
2021年第3期11-16,21,共7页
Modern Agricultural Equipment
基金
国家重点研发计划项目(2018YFB0105300)。
关键词
水田作业
移动平台
液压转向系统
电子控制单元
联合仿真
paddy field operation
mobile platform
hydraulic steering system
electronic control unit
joint simulation
