Reducing Operation Emissions and Improving Work Efficiency Using a Pure Electric Wheel Drive Tractor

In response to the problems of excessive greenhouse-gas and particulate emissions and the low traction efficiency of conventional diesel tractors in the field,a purely electric wheel-side drive tractor was studied,including an electric motor drive system,a battery ballast system,and an electro–hydraulic suspension system.This paper develops a dynamics model of an electric tractor-ploughing unit under complex soil conditions,leading to the proposal of an active control method for drive wheel torque and a joint control method for the traction force of the suspension system and the front-and rear-axle loads of a tractor.Finally,the tractor is prototyped and assembled,and ploughing tests are carried out.The ploughing results show that the active torque-distribution control method proposed in this study reduces the tractor slip by 14.83%and increases the traction efficiency by 10.28%compared with the average torquedistribution mode.Compared with the conventional traction control mode,the joint control method for traction and ballast proposed in this paper results in a 3.7%increase in traction efficiency,a 15.05%decrease in slip,and a 4.9%reduction in total drive motor energy consumption.This study will help to improve the operation quality and traction efficiency of electric tractors in complex soil conditions.

Design a Special Fixture for Tractor Lever

Aiming at the problems of long time and poor machining precision in processing the tractor lever workpiece,a special fixture suitable for the tractor lever workpiece is designed by analyzing the processing technology of the lever workpiece,and the workpiece is accurately positioned and tightened under the action of the special fixture.Efficient machining of the workpiece can be achieved by using a drill template.The fixture not only has the advantages of high production efficiency,low cost and high life,but also effectively improves the processing technology of the workpiece,and has certain reference value for the subsequent fixture improvement design.

Scheduling on tractor and trailer transportation considering the influence of disrupted events based on the contract net and simulated annealing algorithm

To provide a much more resilient transport scheme for tractor and trailer transportation systems,this paper explores the generation method of tractor and trailer transport schemes considering the influence of disrupted events.Three states of tractors including towing loaded trailers,towing empty trailers,and idle driving are taken into account.Based on the disruption management theory,a scheduling model is constructed to minimize the total deviation cost including transportation time,transportation path,and number of used vehicles under the three states of tractors.A heuristics based on the contract net and simulated annealing algorithm is designed to solve the proposed model.Through comparative analysis of examples with different numbers of newly added transportation tasks and different types of road networks,the performance of the contract net algorithm in terms of deviations in idle driving paths,empty trailer paths,loaded trailer paths,time,number of used vehicles,and total deviation cost are analyzed.The results demonstrate the effectiveness of the model and algorithm,highlighting the superiority of the disruption management model and the contract net annealing algorithm.The study provides a reference for handling unexpected events in the tractor and trailer transportation industry.

Multi-objective Stability Control Algorithm of Heavy Tractor Semi-trailer Based on Differential Braking

Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety, and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents. However, currently tractor semi-trailer stability control is generally only a single hazardous condition (rollover or jack-knifing) control, it is difficult to ensure the vehicle comprehensive stability of various dangerous conditions. The main objective of this study is to introduce a multi-objective stability control algorithm which can improve the vehicle stability of a tractor semi-trailer by using differential braking. A vehicle controller is designed to minimize the likelihood of rollover and jack-knifing. First a linear vehicle model of tractor semi-trailer is constructed. Then an optimal yaw control for tractor using differential braking is applied to minimize the yaw rate and lateral acceleration deviation of tractor, as well as the hitch articulation angle of tractor semi-trailer, so as to improve the vehicle stability. Second a braking scheme and variable structure control with sliding mode control are introduced in order to achieve the best braking effect. Last Fishhook maneuver is introduced to the active safety simulation and the active control system effect verification. The simulation results show that multi-objective stability control algorithm of semi-trailer could improve the vehicle stability significantly during the transient maneuvers. The proposed multi-objective stability control algorithm is effective to prevent the vehicle rollover and jackknifing.

On Dual-Mode Driving Control Method for a Novel Unmanned Tractor With High Safety and Reliability

Due to the non-standardization and complexity of the farmland environment,it is always a huge challenge for tractors to achieve fully autonomy(work at Self-driving mode)all the time in agricultural industry.Whereas,when tractors work in the Tele-driving(or Remote driving)mode,the operators are prone to fatigue because they need to concentrate for long periods of time.In response to these,a dual-mode control strategy was proposed to integrate the advantages of both approaches,i.e.,by combing Self-driving at most of the time with Tele-driving under special(complex and hazardous)conditions through switching control method.First,the state switcher was proposed,which is used for smooth switching the driving modes according to different working states of a tractor.Then,the state switching control law and the corresponding subsystem tracking controllers were designed.Finally,the effectiveness and superiority of the dualmode control method were evaluated via actual experimental testing of a tractor whose results show that the proposed control method can switch smoothly,stably,and efficiently between the two driving modes automatically.The average control accuracy has been improved by 20%and 15%respectively,compared to the conventional Tele-driving control and Self-driving control with low-precision navigation.In conclusion,the proposed dualmode control method can not only satisfy the operation in the complex and changeable farmland environment,but also free drivers from high-intensity and fatiguing work.This provides a perfect application solution and theoretical support for the intelligentization of unmanned farm agricultural machinery with high safety and reliability.

Study Two-Dimensional and Three-Dimensional of the Stress Concentration of the Traction Arm of the NEW HOLLAND TT75 Tractor in Service in CHAD

The New Holland TT75 tractors currently in service in Chad use a tractor arm with three holes, the middle one of which has recurrent failures due to traction. The purpose of this work is to use a finite element model to provide an improvement by modifying the geometric parameters to avoid premature failure of the tractor arms of the New Holland TT75. The ultimate force formula of Eurocode 3 was used to determine the maximum pressure to be applied and. A comparative traction study between the current arm and the proposed arm was performed, taking into account the variation in hole size, arm width and applied pressure for the determination of the stress concentration factor Kt. With the determination of Kt and for the arm width (w) less than or equal to 85 mm;the results showed that the proposed arm geometry is better.

基于特性的牵引车-半挂车刚柔组合车架动力学模型研究

商用车较大的车架柔性会影响到整车的操纵稳定性和乘坐舒适性,尤其是在共振时车架柔性会放大对车辆运动品质的影响。为实时模拟牵引车-半挂车的车架运动,采用基于总成特性的建模技术路线,根据运动响应频域将车架运动解耦为低频刚体运动和高频柔体运动,并将车架模型模块化划分为基于多体动力学的刚体车架模块、基于模态综合法的柔体车架模块,然后将两模块求解结果叠加形成刚柔组合车架模型。最后,将车架模型嵌入牵引车89DOF-半挂车73DOF整车模型中,针对某款商用车进行仿真,通过对比实车场地试验结果,验证了模型的有效性。

大功率拖拉机驾驶室振动仿真与试验验证

针对路面不平度引起的拖拉机振动及驾驶员驾驶疲劳等问题,以大功率拖拉机为研究对象,基于车辆动力学理论建立六自由度人-椅-路面拖拉机振动模型,仿真拖拉机动态工况下人椅系统的振动传递过程。为验证模型的准确性,在田间及沥青道路上进行实车试验,测量动态工况下拖拉机座椅及人体头部、腰部、腿部的振动加速度,并与模型仿真结果进行对比;通过加速度响应的时域和频域分析,把加权加速度均方根值作为评价指标,对驾驶员的振动舒适性进行评价分析。结果表明:建立的人椅系统模型与振动试验的结果有很高的一致性,模型具有良好的预测效果,且驾驶员测量部位因振动产生的不舒适感由低到高为头部、腿部、腰部,为拖拉机减振及座椅设计提供了参考。

基于数字孪生的拖拉机混流装配智能排产仿真评价

车间排产对提高车间的效率至关重要,智能排产可以极大提高加工的自动化和智能化水平。但传统生产过程中大多采用固定的工时数据进行产线作业时间估算,而拖拉机混流装配以工人作业为主,工人作业时间不固定甚至存在较大差异。为满足智能排产要求,提出通过数字孪生车间对生产计划进行仿真评价以增强与实际车间的交互与反馈。搭建与现场拖拉机装配线一致的数字孪生三维模型场景及人机交互界面,根据MES系统中的过点信息实现装配线模型实时驱动,建立了一个拓展性强、可灵活复用的数字孪生系统。分析了生产计划评价指标,提出通过生产计划管理系统与孪生装配线的交互反馈,实现对基于数字孪生装配线的生产计划仿真运行及评价。通过数字孪生装配线采集到的实际工时仿真运行生产计划,可以得到优化后的生产计划。将低产、正常和高产月份各5 d内的实际生产计划与本系统生成的计划进行对比,结果表明本系统仿真评价后得到的生产计划更优越。

无人驾驶拖拉机路径跟踪控制方法综述

为加快农业现代化的发展,农机自动化、智能化是我国农业机械的发展趋势。无人驾驶拖拉机能够提高作业精度与作业效率,减少投入成本,是近年来智能农机装备领域的重要研究对象。为此,介绍了无人驾驶拖拉机的两种主要建模方法以及5种路径跟踪控制方法。同时,对该技术发展提出了建议:应进一步深入研究曲线行驶和转弯控制方法,分析不同路面的影响,综合考虑成本与控制方法鲁棒性、适应性之间的平衡关系。

基于模糊快速滑模的农用牵引车辆直线路径跟踪控制

为解决无人驾驶牵引式农机在非结构化环境中作业时直线跟踪精度低、上线速度慢、抗干扰能力差等问题,提出了一种基于模糊快速滑模控制的农用牵引式车辆直线路径跟踪控制方法。首先利用车辆运动学模型与参考路径建立牵引车辆直线路径跟踪误差模型,并提出一种基于模糊参数整定的快速滑模直线路径跟踪方法,解决了滑模控制算法的控制器抖振与机具快速上线问题。通过Lyapunov稳定性分析可知,所设计控制方法可保证牵引机具跟踪参考路径,同时铰接角收敛至零。最后,基于Simulink仿真与实车试验对该控制方法的有效性与优越性进行测试。田间实车试验表明,使用本文控制方法时,拖车和挂车最大路径跟踪横向误差分别为0.11、0.12 m,拖车和挂车跟踪误差方差分别为0.0013、0.0015 m^(2);相较于传统基于等速趋近律设计的滑模控制器,上线时间提升约58%,最大跟踪误差减小约66%。

基于UG的拖拉机大灯注塑模具设计

以拖拉机大灯为例,分析了UG注塑模具建模的设计方法和工艺方案,建立了拖拉机大灯模型,并完成了拖拉机大灯注塑模具的设计。研究结果表明:经过UG模拟开模出来的塑料件没有出现气泡、变形、缺料和银线等缺陷,整体也没有发现熔合条纹,设计的拖拉机大灯注塑模具满足设计需求。

位置扰动影响下的拖拉机底盘横向振动模型研究

为了探明行走速度、地面坡度和地面摩擦因数对拖拉机底盘横向稳定性的影响,建立了拖拉机动力学模型。考虑两种拖拉机失稳类型,即翻车和打滑引起的拖拉机底盘不稳定,为每种情况确定了稳定性指数。选取MITSUBISHI MT-2501D拖拉机进行试验与分析,结果表明:行走速度和地面坡度对所有稳定性指标都有显著的负相关影响(P<0.05),拖拉机的稳定性受拖拉机打滑的影响比翻车的影响更大。因此,为了提高该拖拉机底盘的整体稳定性,应该优先考虑提高由拖拉机打滑动力学得出的拖拉机稳定性指数。研究结果可为提高拖拉机田间运行稳定性提供新的研究思路及技术参考。

一种拖拉机核心执行机构的可靠性分析

以拖拉机转向机构为研究对象,对不确定因素下转向机构的运动精度进行分析,并利用概率学相关理论对转向机构运动误差和可靠性进行建模,同时采用一次二阶矩阵进行可靠性模型求解。结果表明:受转向机构工作过程可靠性不确定因素影响,拖拉机转向机构结构件误差最大时,其失效概率并未达到最大值。

农用拖拉机动力系统智能化维修平台应用

通过对农用拖拉机动力系统故障识别和检修过程进行描述,基于CAN总线通讯的方式,进行拖拉机动力系统智能维修平台硬件结构搭建,并采用高性能中央处理器,实现智能维修平台的功能原理和硬件结构。应用结果表明:系统运行过程可靠,动力系统故障定位准确,能够有效提升维修人员对动力系统故障的定位和故障维修的能力。

大功率拖拉机多工况换挡自适应控制策略

拖拉机牵引不同农机具完成不同作业,其作业要求随着牵引机具的不同而变化。针对大功率拖拉机在不同工况下作业要求不同的问题,提出一种多工况换挡自适应控制方法。分析不同工况对拖拉机动力性经济性的要求,以滑转率、油门开度和速度为参数,根据工况要求计算兼顾动力性和经济性的理论换挡规律,采用神经网络离线训练换挡规律实现挡位智能控制;针对重载荷下随机载荷波动导致循环换挡问题,引入加速度和油门开度变化量作为参数,利用模糊逻辑判断拖拉机负载和驾驶员操作意图得到速度修正系数,对换挡速度进行修正,扩大挡位使用范围;通过对拖拉机纵向动力学分析,利用Simulink搭建大功率拖拉机数学仿真模型,并建立变速箱换挡控制系统硬件在环仿真平台验证换挡策略的有效性。仿真结果表明,在燃油经济性方面,道路运输和轻载荷作业工况燃油经济性分别下降5.78%、3.28%。在动力性方面,保证克服牵引阻力的同时,轻载荷和重载荷工况加速时间较快,速度波动减小且有效避免重载荷工况下循环换挡问题。

基于拖拉机姿态特征的意象认知研究

目的挖掘拖拉机姿态与意象偏好的关系,进而指导拖拉机的造型设计。方法采用多元尺度分析法和聚类分析法筛选拖拉机的姿态样本;运用形态分析法分解并标定典型样本的姿态特征,通过语词聚类实验构建拖拉机姿态的意象空间;结合语义差分法和问卷调研获取用户对典型拖拉机样本的意象偏好,运用灰色关联分析法得到拖拉机姿态特征与意象的关联。结果得到拖拉机的8个典型姿态样本,获取了拖拉机姿态的四个语义维度下的五个代表性语义词对。明确了拖拉机姿态的特征框架和语义结构,归纳得到拖拉机姿态的意象认知规律。结论拖拉机的姿态特征蕴含着意象信息,研究结果可以为设计师解读用户的意象认知提供参考。

船式拖拉机直线工作参数优选研究

为提高船式拖拉机驱动性能,以单轮叶为研究对象,结合离散元法搭建了仿真模型与土槽试验平台,分析单轮叶与土壤的直线作业机理。验证仿真模型的有效性后,从单轮叶与土壤作业过程出发,对单轮叶直线作业过程受力进行了分析,发现单轮叶推进力和支撑力均随着转过角度的增加呈现先增加后降低的趋势变化。以单轮叶推进力和扭矩作为评价指标,探究单轮叶工作参数对驱动性能的影响规律,通过多因素法得到最佳的工作参数组合。研究结果表明:最优工作参数组合为入土角度11°、入土深度147mm、前进速度1.6m/s,此时轮叶推进力为172.51N、扭矩为69.82N·m,优化后的单轮叶推进力提高了40.82N,扭矩下降了34.77N·m。土槽试验表明:优化后的单轮叶损耗功率降低明显,驱动性能得到了有效提高,结果为船式拖拉机工作参数选择提供了理论依据。

拖拉机多路阀节流槽动态特性研究与试验

为优化部分拖拉机多路阀流量特性、减小压差等问题,设计一种具有U-半圆形节流槽结构的拖拉机多路阀,通过仿真试验研究U-半圆形节流槽拖拉机多路阀的动态特性。结果表明:U-半圆形节流槽出口流量呈现先小后大再小的特点。多路阀出口稳态流量为113 L/min,流量变化稳定无冲击,控制特性好。制定U-半圆形节流槽拖拉机多路阀试验方案,通过试验得出阀口压差随着阀芯位移的增大而减小,阀口最小压差为1.2 MPa;测得多路阀最大泄漏量为10.5 mL/min,满足泄漏指标。从而验证U-半圆形节流槽多路阀流量变化稳定,内泄漏量小。

农业拖拉机尾灯多色注塑模具设计

以农业拖拉机尾灯为研究对象,分析了尾灯的内部结构和工艺性,并针对双色模具的特殊性,分析了模具成型方案和设计流程,基于AutoCAD和CAE软件完成了尾灯双色塑件模具的设计。开模试验表明:该产品符合设计需求,整个产品结构稳定,透明度好,设计的模具结构合理、工艺流程可靠,能够满足实际的生产应用,工程应用价值较高。