现代农业装备2026，Vol.47Issue(4)：63-69,7.DOI:10.3969/j.issn.1673-2154.2026.04.008
丘陵山地四履带主动调平底盘设计
Design of a Four-track Active Leveling Chassis for Hilly and Mountainous Area
摘要
Abstract
To address the high risk of overturning and poor terrain adaptability of agricultural machinery in hilly and mountainous areas,a four-track active leveling chassis was designed.A leveling control method based on the"fixed center point"strategy was proposed,the mathematical model of coordinate transformation for attitude leveling was derived,and an attitude closed-loop control system based on STM32 was developed.Static and dynamic leveling performance tests were conducted on the prototype platform.The results showed that after starting the leveling system,the static leveling response time was within 5.1 s,and the steady-state error was less than 0.42°.When driving on a slope with a maximum longitudinal angle of 7° and a transverse angle of 15°,the maximum longitudinal and transverse inclination angles of the chassis decreased to 2.5° and 3.0° respectively after turning on the leveling system,and both could be adjusted back to the dead zone of±1° within 1 s.The chassis has good attitude leveling accuracy and dynamic response speed in complex slope environments,effectively improving the driving stability and operational safety of agricultural machinery.关键词
丘陵山地/姿态调平/履带底盘/性能试验Key words
hilly and mountainous area/attitude leveling/tracked chassis/performance test分类
农业科技引用本文复制引用
郑伯康,蒋姣丽,刘广,郭启盛,武涛..丘陵山地四履带主动调平底盘设计[J].现代农业装备,2026,47(4):63-69,7.基金项目
广州市科技计划项目(2024B03J1308) （2024B03J1308）
广东省甘蔗剑麻产业技术体系(2026CXTD03-01) （2026CXTD03-01）
国家糖料产业技术体系(CARS-17) （CARS-17）
