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東方紅拖拉機(jī)自動轉(zhuǎn)向控制系統(tǒng)設(shè)計
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Development of Automatic Steering Control System Based on Dongfanghong Tractor
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    摘要:

    以東方紅-X804型拖拉機(jī)為平臺，改造原拖拉機(jī)的油路，使用電控比例液壓閥，并設(shè)計電控單元，組成了自動轉(zhuǎn)向控制系統(tǒng)。簡述了油路的改造與電控比例液壓閥安裝，電控單元的設(shè)計，包括單片機(jī)（C8051F040）、角度傳感器（KMA199）以及CAN總線網(wǎng)絡(luò)，實現(xiàn)了SD卡存儲系統(tǒng)，實時存儲試驗過程中的數(shù)據(jù)。試驗結(jié)果表明：信號跟蹤的最大誤差1.1°、平均誤差0.5°、平均延時為0.2 s。自動轉(zhuǎn)向控制系統(tǒng)具有良好的響應(yīng)特性，滿足轉(zhuǎn)向系統(tǒng)的性能要求。

    Abstract:

    Automatic steering control plays an important part in an automatic navigation system. A Dongfanghong-X804 tractor is used as a platform and an electro-hydraulic proportional valve is added to the original manually operated steering system. The original circuit of the tractor is improved. An electronic control unit is designed to control the valve, which is composed of a microcomputer (C8051F040), an angle sensor (KMA199), and a CAN bus network. A SD card data storage system is realized for real-time storing experimental data. The experimental results show that the largest and the average signal tracking errors are 1.1° and 0.5°, respectively, and the average delay is 0.2 s. The automatic steering system has good response and can meets the performance requirements.

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吳曉鵬,趙祚喜,張智剛,陳斌,胡煉.東方紅拖拉機(jī)自動轉(zhuǎn)向控制系統(tǒng)設(shè)計[J].農(nóng)業(yè)機(jī)械學(xué)報,2009,40(Z1):1-5. Development of Automatic Steering Control System Based on Dongfanghong Tractor[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(Z1):1-5.

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