摘要
我国苜蓿主要生产区为甘肃、宁夏等路况复杂的山地丘陵地带,用于苜蓿收获的非道路动力底盘的行驶灵活性将直接影响其作业性能。为改善其低速工况下的行驶灵活性,基于车辆三自由度动力学模型提出了非道路动力底盘以跟随已知路线前进为目标的多种工况下的分层控制策略,搭建了四轮转向硬件在环实验平台,并进行了仿真实验。实验结果表明:动力底盘模型能够实现轨迹跟随、原地转向及斜向行驶,质心位置最大偏差为0.6 4 1 8 m,中心线方向最大偏差为3.3 0 9 6 rad。开发的控制系统取得较好的半实物仿真效果,为改善非道路动力底盘低速情况下转向灵活性提供了理论基础。
The main alfalfa production area in China is the hilly areas in Gansu and Ningxia provinces .The steering flex-ibility performance of the off-road power chassis will affect its comprehensive working performance directly .To improve its low-spreed steering flexibility performance , this paper proposes a kind of control strategy , which is applicable to a va-riety of working conditions , with following the known route based on three degrees of freedom dynamics model ,establishes the hardware in the loop experiment platform , and the simulation test is also carried out .The test results show that the chassis simulation model could achieve trajectory following , in-situ steering and oblique driving , and the maximum devi-ation of centric position is 0.6418m, the maximum deviation of direction of center lines is 3.3096rad.The development of the control system achieves good effect , which provides a theoretical basis for improving steering flexibility of the off-road power chassis at low speed .
出处
《农机化研究》
北大核心
2017年第7期158-163,共6页
Journal of Agricultural Mechanization Research
基金
公益性行业(农业)科研专项(201203024)
关键词
非道路
四轮独立转向
控制策略
硬件在环
off-road
4-wheel independent steering
control strategy
hardware-in-the-loop
