摇杆操控型农机转向控制策略

Steering Control Strategy of Rocker-operated Agricultural Machinery

根据小型电动农机的摇杆操控模式,针对遥杆电压、驱动轮转速与导向轮转向偏角间关系,建立摇杆电压与驱动轮的“电压-转速”模型和导向轮的“电压-转向”模型。基于电子差速原理与Ackermann&Jeantand模型,探讨了电压、转速与转向偏角间关系,获得车轮转速与车身转向偏角,进而获取导向轮转向偏角。采用非线性拟合建立“电压-转速”与“电压-转向”模型,“电压-转速”模型中Adj R-square校正拟合结果分别为0.9546和0.9744,“电压-转向”模型中Adj R-square校正拟合结果为0.8690,该模型可实现电动农机在行进和转向过程中实时获取车轮转速与车身转向偏角,按照预设方案稳定前进。电动农机是当前农业机械的发展方向,对农业的发展有着重要意义。

According to rocker control mode of small electric agricultural machinery,aiming at relationship between remote lever voltage,driving wheel speed and steering deflection angle of guide wheel,"voltage speed"model of remote lever voltage and driving wheel and"voltage steering"model of guide wheel were established.Based on principle of electronic differential speed and Ackermann&Jeantand model,relationship between voltage,speed and steering angle was discussed,wheel speed and steering angle of body were obtained,and then steering angle of steering wheel was obtained.Nonlinear fitting was used to establish"voltage-speed"and"voltage-steer"model.Adj R-square correction fitting results in"voltage-speed"model were 0.9546 and 0.9744,respectively,and Adj R-square correction fitting results in the"voltage-steer"model were 0.8690.The model could realize real-time acquisition of wheel speed and body steering deflection angle of electric agricultural machinery in process of travel and steering,and move forward stably according to preset scheme.Electric agricultural machinery is current development direction of agricultural machinery and is of great significance to development of agriculture.