农业机械学报2025，Vol.56Issue(9)：492-502,11.DOI:10.6041/j.issn.1000-1298.2025.09.040
考虑药罐液体晃动的喷雾机底盘悬架控制方法
Sprayer Chassis Suspension Control Method Considering Liquid Sloshing in Tank
摘要
Abstract
A semi-active air suspension system composed of air spring and MR damper was designed to solve the problem of poor smoothness and stability of sprayer with high clearance sprayer under complex excitation conditions.On this basis,the mathematical model of air spring,mathematical model of semi-active suspension and seven-degree-of-freedom dynamic model of vehicle,including the slogging factor were established.Combined with the characteristics of the sprayer operating conditions,a hybrid PID control method of ceiling control and floor control was proposed.The Matlab/Simulink simulation control model was established and the simulation research was carried out.The results showed that with the proposed control method,the sprung centroid acceleration was reduced by 30.1％,the roll angle speed was reduced by 34.6％,the pitch angle speed was reduced by 37.1％,and the tire dynamic load was reduced by 26.5％.According to the working environment of sprayer transfer and spraying operation and the suspension control mode,the real vehicle tests on the suspension performance of sprayer chassis and the inhibition effect of liquid sloth were carried out.The test results showed that under the action of PID,the sprung center of mass acceleration was decreased by 18.44％,the roll angle speed was decreased by 23.88％,the pitch angle speed was decreased by 22.50％,and the tire dynamic load was decreased by 9.67％.Under the action of PID in the field road,the sprung centroid acceleration was decreased by 26.97％,the roll angle speed was decreased by 26.14％,the pitch angle speed was decreased by 25.49％,the boom swing angle speed was decreased by 21.69％,and the tire dynamic load was decreased by 13.88％.At the same time,by analyzing the range of liquid surface,it was proved that the liquid sloshing could be inhibited obviously at different filling ratios.关键词
高地隙喷雾机/空气悬架/药液晃动/混棚PID控制Key words
high clearance sprayer/air suspension/liquid medicine sloshing/mixing shed PID control分类
农业科技引用本文复制引用
陈雨,张烁,陈宇翔,郭佩杰,陈军,闫小丽..考虑药罐液体晃动的喷雾机底盘悬架控制方法[J].农业机械学报,2025,56(9):492-502,11.基金项目
国家自然科学基金青年科学基金项目(32001428)、国家重点研发计划项目(2022YFD1900304)和陕西省重点研发计划项目(2024NC-YBXM-202、2024NC-YBXM-244、2023-ZDLNY-62) （32001428）
