农业机械学报2025，Vol.56Issue(12)：110-120,11.DOI:10.6041/j.issn.1000-1298.2025.12.009
电驱无人农用动力装备设计与试验
Design and Experiment of Electric Unmanned Agricultural Power Equipment
摘要
Abstract
Aiming at the problems of poor terrain adaptability,inflexible movement and insufficient environmental friendliness of the current power equipment,a four-wheel multi-mode steering electric unmanned agricultural power equipment with an articulated frame and an independently driven steering wheel set was proposed to meet the operational needs of sowing,tillage,plant protection,transportation and other links in facility horticultural agricultural production.Firstly,the overall structure of the power equipment consisted of an articulated frame,an independently driven steering wheel set,a central suspension device and an electronic control system.It supported multiple steering modes,including two-wheel steering,four-wheel steering,on-the-spot steering and crab steering.Next,matching calculations were performed on key components of the power system,such as the drive motor,steering motor,PTO motor,and power battery.Subsequently,the dynamic motion characteristics of the agricultural power equipment under various steering modes were analyzed,and a multi-mode dynamic model was established.Finally,a hierarchical drive control method was applied in the mechatronic control system,and multiple field tests were carried out with driving speed,steering performance,climbing performance,stability of tillage depth,and endurance performance as evaluation indices.The test results showed that the equipment achieved an average driving speed of 9.67 km/h,the minimum turning radius of 1 715.5 mm under four-wheel Ackerman steering,the maximum climbing grade was 15°,the coefficient of the tillage depth stability was 94.62％,and the battery runtime was 2.18～2.77 h.The equipment demonstrated excellent steering characteristics,passability,and operational stability,providing theoretical and technical support for the design of advanced small-and medium-sized intelligent agricultural machinery equipment.关键词
轮式动力装备/四轮驱动与转向/铰接式车架/多模式驱动控制Key words
wheel-driven power equipment/four-wheel drive and steering/articulated frame/multi-mode drive control分类
农业科技引用本文复制引用
WANG Linze,LI Qingmin,ZHOU Kunlei,WEN Changkai,LI Xiaoyu,SONG Zhenghe,DU Yuefeng..电驱无人农用动力装备设计与试验[J].农业机械学报,2025,56(12):110-120,11.基金项目
山东省重点研发计划项目(2025CXPT159)和国家重点研发计划项目(2024YFD2001302) （2025CXPT159）
