自走式植保机行走动力学模型研究

Research on Walking Dynamics Model of Self-Propelled Plant Protection Machine

为提高自走式植保机整车性能和改进相关控制策略,基于传统车辆动力学方程,结合植保机轮胎与地面间的相互作用,以3WPHS-600A型自走式植保机为研究对象,根据车辆行驶的不同状态,建立了七自由度植保机行走动力学模型。通过MatLab/Simulink对植保机动力学模型进行仿真,对结果进行分析,再加以实车试验验证,结果表明:改进后的植保机模型的纵向速度、侧向速度、纵向加速度、侧向加速度及横摆角速度等参数都能较好地跟随输入信号的变化而变化,模型能够良好地描述植保机行驶工作的动力学情况,为提高植保机的动力学特性和控制系统优化奠定了基础。

In order to improve the vehicle performance of the self-propelled plant protection machine and improve the related control strategies,this paper is based on the traditional vehicle dynamics equations,combined with the interaction between the plant protection machine tires and the ground,and takes the 3WPHS-600A self-propelled plant protection machine as the research object,according to the different driving states of the vehicle,the walking dynamics model of 7-DOF plant protection machine is established.The dynamics model of the plant protection machine was simulated by MATLAB/Simulink,and the simulation results were analyzed and verified by the real vehicle test.The results showed that the parameters such as longitudinal velocity,lateral velocity,longitudinal acceleration,lateral acceleration and yaw rate of the improved model can change well with the change of the input signal.Therefore,the vehicle model of plant protection machine established in this paper can accurately reflect the longitudinal and lateral dynamics of the vehicle.This dynamics model can well describe the dynamics situation of the plant protection machine,and lays a foundation for improving the dynamics characteristics and optimizing the control system of the plant protection machine.