农机化研究2017，Vol.39Issue(7)：158-163,6.
非道路动力底盘线控四轮独立转向控制系统研究
Off-road Power Chassis Control System Study Based on 4-wheel Independent Steering
摘要
Abstract
The main alfalfa production area in China is the hilly areas in Gansu and Ningxia provinces .The steering flex-ibility performance of the off-road power chassis will affect its comprehensive working performance directly .To improve its low-spreed steering flexibility performance , this paper proposes a kind of control strategy , which is applicable to a va-riety of working conditions , with following the known route based on three degrees of freedom dynamics model ,establishes the hardware in the loop experiment platform , and the simulation test is also carried out .The test results show that the chassis simulation model could achieve trajectory following , in-situ steering and oblique driving , and the maximum devi-ation of centric position is 0.6418m, the maximum deviation of direction of center lines is 3.3096rad.The development of the control system achieves good effect , which provides a theoretical basis for improving steering flexibility of the off-road power chassis at low speed .关键词
非道路/四轮独立转向/控制策略/硬件在环Key words
off-road/4-wheel independent steering/control strategy/hardware-in-the-loop分类
农业科技引用本文复制引用
赵建柱,陈宏伟,孙佳,孙凤涛,王德成..非道路动力底盘线控四轮独立转向控制系统研究[J].农机化研究,2017,39(7):158-163,6.基金项目
公益性行业（农业）科研专项 （）
