农业机械学报2017，Vol.48Issue(6)：32-40,9.DOI:10.6041/j.issn.1000-1298.2017.06.004
拖拉机自动导航摩擦轮式转向驱动系统设计与试验
Design and Experiment on Automatic Steering Control System of Friction Drive for Tractor
摘要
Abstract
An automatic steering control system of friction drive for tractor was designed to solve the problem that traditional automatic steering control system was too complex to be installed on 2BFQ-6 type direct-seeding combined dual purpose planter.A four connecting rods parallel institutions was used to develop the steering control device of friction drive for achieving fast mode switching.Meanwhile,the friction drive was simple in operation and convenient in installation by using the clamping installation method.The discrete simulation model of tire steering maneuver was established based on slip characteristics of the device.The simulation model was adopted to design the genetic algorithm optimizer,which could optimize the controller parameters online.The self-adaptation controller was adapted to control the automatic steering device of friction drive.The experiment on LX854-DFH tractor was used to analyze the performance of genetic algorithm optimizer.The experimental results showed that rise and regulation response time of the genetic algorithm optimization controller was decreased by 15％ and 29％ compared with the fixed parameter controller,respectively.The measured 20° step responses indicated that the average regulation time was 2.4 s,the average absolute steady-state error was 0.197°,and there was no steady state oscillation,when the experimental results were recorded.The automatic steering control system of friction drive could be applied to control nosewheel steering turning of 2BFQ-6 type direct-seeding combined dual purpose planter for rapeseed.关键词
拖拉机导航/前轮转向/摩擦驱动/自适应模糊控制/遗传算法/离散仿真模型Key words
tractor navigation/nosewheel steering turning/friction drive/self-adaptation fuzzy control/genetic algorithm/discrete simulation model分类
农业科技引用本文复制引用
张闻宇,丁幼春,王磊,万星宇,雷小龙,廖庆喜..拖拉机自动导航摩擦轮式转向驱动系统设计与试验[J].农业机械学报,2017,48(6):32-40,9.基金项目
国家油菜产业技术体系专项(CARS-13)、国家重点研发计划项目(2016YFD020060602)、“十二五”国家科技支撑计划项目(2013BAD08B02)和公益性行业(农业)科研专项(201503116-6) （CARS-13）
