摘要
针对当前高地隙植保机自动化程度不高、作业时行驶速度变化较大影响施药质量等问题,设计具备手动、自动切换功能的速度自动控制系统。以雷沃ARBOS高地隙植保机为研究平台,采用机电一体化控制方法对其变速执行机构、速度控制过程与特性进行分析,采用基于比例微分算法的速度控制方法,实时计算并控制速度执行机构的动作,实现行驶速度的自动调节。田间试验表明,高地隙植保机速度自动控制系统能够按照速度指令控制静液压行走驱动系统的输出,在平均行驶速度为0.21、0.83和0.94 m/s时,最大速度控制误差分别为0.05、0.10和0.10 m/s,满足高地隙植保机行驶速度控制的基本要求。
With respect to problems including lack of automation and poor spraying quality due to varying speed existing in high-clearance sprayer,an automatic speed control system was developed for the high-clearance sprayer of LOVOL ARBOS by investigating its transmission mechanism and characteristics in speed control based on mechatronic control methods.A speed control method was used to control the speed executor based on proportion-differential algorithm to realize automatic adjustment of the vehicle speed.Field tests showed that the newly developed automatic speed control system could control the power output of the HST driving system to realize the desired speed.The maximum speed errors were 0.05,0.10 and 0.10 m/s when the desired value was set to 0.21,0.83 and 0.94 m/s,respectively indicating that the system could meet requirements for speed control of the high-clearance sprayer.
作者
杜娟
于明群
陈艳普
李敏
金诚谦
印祥
DU Juan;YU Mingqun;CHEN Yanpu;LI Min;JIN Chengqian;YIN Xiang(College of Agricultural Engineering and Food Science,Shandong University of Technology,Zibo 255000,China;Nanjing Research Institute for Agricultural Mechanization of Ministry of Agriculture and Rural Affairs,Nanjing 210014,China)
出处
《中国农业大学学报》
CAS
CSCD
北大核心
2019年第12期104-110,共7页
Journal of China Agricultural University
基金
国家重点研发计划(2017YFD0700405)
山东省高等学校科技计划项目(J17KA145)
山东省高等学校优势学科人才团队培育计划项目(2016-2020)
国家级大学生创新创业训练计划项目(201810433019)
山东省农机装备研发创新计划项目(2018YF006).
关键词
高地隙植保机
行驶速度
自动控制
电动推杆
high-clearance sprayer
moving speed
automatic control
electric putter
作者简介
第一作者:杜娟,讲师,博士,主要从事高效植保技术与装备研究,E-mail:dujuan0427@163.com;通讯作者:印祥,副教授,博士,主要从事农业装备自主导航与智能控制研究,E-mail:666513@163.com
