水稻插秧机电动方向盘系统设计及控制研究

Design and Control Research of Electric Steering Wheel System for Rice Transplanter

以富来威2ZG-6DM型水稻插秧机为应用对象,设计了一款以步进电机作为动力源的电动方向盘集成系统,由摩擦式扭矩限制器、减速器、步进电机及驱动器、角度传感器、主控装置、通信模块、开关及传动机构组成。提出了步进电机转角与转速控制算法,构建了考虑转向阻力矩的电动方向盘转角闭环控制模型,并运用MatLab对此模型动态响应进行仿真计算控制参数。选择STM32作为主控装置,设计了电动方向盘转角闭环控制流程,并编制了电动方向盘的控制程序。电动方向盘转角精度试验结果表明:电动方向盘实际转角与目标转角的平均角度误差小于0.5°,标准差小于0.15,验证了电动方向盘系统设计和控制算法的正确性和有效性,为富来威2ZG-6DM型水稻插秧机智能化设计与改进打基础。

Taking Flw 2ZG-6DM rice transplanter as the application object,an electric steering wheel integrated system with stepping motor as power source is designed.The system consists of friction torque limiter,reducer,stepping motor and driver,angular transducer,main control device,communication module,switch and transmission mechanism.A stepping motor rotation angle and speed control algorithm is proposed,a closed-loop control model of electric steering wheel rotation angle considering steering resistance torque is constructed,and the dynamic response of this model is simulated by Matlab to calculate the control parameters.Select STM32 as the main control device,design the closed-loop control flow of the electric steering wheel angle,and compile the control program of the electric steering wheel.The electric steering wheel angle accuracy test shows that the average angle error between the actual steering angle of the electric steering wheel and the target rotation angle is less than 0.5°,and the standard deviation is less than 0.15,which verifies the correctness and effectiveness of the design and control algorithm of the electric steering wheel system.The rice transplanter provides a theoretical basis for automatic driving.Lay a foundation for the intelligent design and transformation of Flw 2ZG-6DM rice transplanter.