农业机械学报2024，Vol.55Issue(6)：392-403,12.DOI:10.6041/j.issn.1000-1298.2024.06.040
丘陵山地姿态调整轮式拖拉机运动控制研究
Motion Control of Attitude Adjustment Wheeled Tractor in Hilly and Mountain Areas
摘要
Abstract
In order to improve the stability of the tractors in hilly and mountainous areas,a motion control method was designed based on improved genetic algorithm,which can achieve real-time leveling control according to terrain conditions.Firstly,according to the kinematic relationship of the tractor attitude adjustment mechanism,a kinematic model representing the relationship between the wheel center position and the body attitude parameters was established,and a numerical example was given to solve the problem to verify the correctness and accuracy of the kinematic model.Then,with the aim of improving the stability of tractor body,a tractor motion control method based on improved genetic algorithm was designed while considering the kinematics model.Finally,the simulation results showed that the motion control algorithm can effectively reduce the body attitude angle,the maximum lateral slope angle was reduced by 13.3°,and the maximum pitch angle of the longitudinal slope was reduced by 4.3°.The comprehensive adjustment on the road with both slopes can reduce the maximum side angle and the maximum pitch angle by 13.8° and 4°,respectively,which greatly improved the stability of the body.At the same time,the improved genetic algorithm was compared with the traditional genetic algorithm.The results showed that the improved genetic algorithm was superior to the traditional genetic algorithm both in response time and control accuracy.The response time of the improved genetic algorithm was reduced by 63.93％compared with that of the traditional genetic algorithm,and the efficiency of the algorithm was greatly improved.关键词
丘陵山地/轮式拖拉机/姿态调整/运动控制/遗传算法Key words
hilly and mountain area/wheeled tractor/attitude adjustment/kinematic control/genetic algorithm分类
农业工程引用本文复制引用
姜惠,唐小虎,张旭烽,徐国艳,高峰..丘陵山地姿态调整轮式拖拉机运动控制研究[J].农业机械学报,2024,55(6):392-403,12.基金项目
国家重点研发计划项目(2022YFD2001303-2、2016YFD0700503-1) （2022YFD2001303-2、2016YFD0700503-1）
