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拖拉機(jī)電液懸掛系統(tǒng)動(dòng)壓反饋校正方法研究
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國(guó)家重點(diǎn)研發(fā)計(jì)劃項(xiàng)目(2017YFD0700101)


Dynamic Pressure Feedback Correction Method for Tractor Electro Hydraulic Hitch
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    摘要:

    針對(duì)拖拉機(jī)在運(yùn)輸重型懸掛設(shè)備時(shí),壓力沖擊劇烈、拖拉機(jī)會(huì)產(chǎn)生較大的俯仰運(yùn)動(dòng)等問(wèn)題,提出了在位置控制系統(tǒng)中加入動(dòng)壓反饋校正環(huán)節(jié),增加系統(tǒng)阻尼比,來(lái)抑制系統(tǒng)壓力波動(dòng)。該動(dòng)壓反饋校正環(huán)節(jié)利用壓力傳感器輸出信號(hào),經(jīng)過(guò)控制器微分校正后給系統(tǒng)輸入,能夠在不影響系統(tǒng)動(dòng)態(tài)剛度的前提下,增加系統(tǒng)阻尼比。首先,通過(guò)建立拖拉機(jī)電液懸掛的運(yùn)動(dòng)學(xué)模型,分析研究了各桿件間的轉(zhuǎn)角傳動(dòng)比,并建立了拖拉機(jī)懸掛系統(tǒng)的動(dòng)力學(xué)模型,利用Matlab編寫程序求解液壓缸的負(fù)載力,建立了液壓系統(tǒng)模型,分析了加入動(dòng)壓反饋校正環(huán)節(jié)后的液壓系統(tǒng)阻尼比變化情況,給出了動(dòng)壓反饋參數(shù)的確認(rèn)方法。其次,應(yīng)用Matlab/Simulink對(duì)所建立的模型進(jìn)行仿真分析,仿真結(jié)果表明:在液壓系統(tǒng)提升過(guò)程中壓力變化較大,最大壓力達(dá)到5.8MPa,校正后的電液懸掛系統(tǒng)壓力波動(dòng)較小,最大壓力僅4.0MPa,在液壓系統(tǒng)受到干擾力沖擊時(shí),原液壓系統(tǒng)壓力波動(dòng)范圍為2.7MPa,而采用動(dòng)壓反饋校正后的位置控制壓力波動(dòng)范圍為1.1MPa,驗(yàn)證了該校正方法能夠有效地提高系統(tǒng)阻尼比,抑制壓力波動(dòng)。最后,搭建試驗(yàn)平臺(tái)進(jìn)行試驗(yàn)驗(yàn)證,試驗(yàn)結(jié)果表明:拖拉機(jī)電液懸掛提升過(guò)程中未校正系統(tǒng)的提升最大壓力為4.6MPa,且壓力振蕩下降,而校正后的系統(tǒng)最大壓力僅3.8MPa,壓力較為平緩。沖擊干擾試驗(yàn)中原系統(tǒng)的最大壓力達(dá)到6.5MPa,壓力波動(dòng)范圍為6.0MPa,而校正后的系統(tǒng)最大壓力僅為4.6MPa,壓力波動(dòng)范圍為4.2MPa,相對(duì)于原系統(tǒng)鎖止工況,壓力波動(dòng)范圍降低了30%。本文提出的拖拉機(jī)電液懸掛動(dòng)壓反饋校正方法,可以很好地抑制拖拉機(jī)電液懸掛液壓缸壓力波動(dòng),從而達(dá)到保護(hù)農(nóng)機(jī)具,降低俯仰運(yùn)動(dòng),提高駕駛員舒適性的目的。

    Abstract:

    When the tractor transports the heavy hitch equipment, the hydraulic cylinder pressure impact of the electro-hydraulic hitch is severe, and the tractor will produce large pitching movement. The dynamic pressure feedback correction was added to the position control system to increase the system damping ratio to suppress the system pressure fluctuation. The output signal of the pressure sensor was collected and input to the system through the controller differentiator, which could increase the damping ratio of the system without affecting the dynamic stiffness of the system. The kinematics model of tractor electro-hydraulic hitch was established, and the angle transmission ratio of each link was analyzed. The dynamic model of the tractor hitch system was established, and the load force of the hydraulic cylinder was solved by programming with Matlab. The hydraulic system model was established, the damping ratio of the hydraulic system after adding dynamic pressure feedback correction link was analyzed, and the confirmation method of dynamic pressure feedback parameters was given. Matlab/Simulink was used to simulate the model. The simulation results showed that during the lifting process of the hydraulic system, the pressure was changed greatly, and the maximum pressure reached 5.8MPa. After correction, the pressure fluctuation of the electro-hydraulic hitch system was small, and the maximum pressure was only 4.0MPa. When the interference force impacted the hydraulic system, the pressure fluctuation range of the original hydraulic pressure system was 2.7MPa. In comparison, the position control pressure fluctuation range after using dynamic pressure feedback correction was 1.1MPa. Therefore, the damping ratio of the system could be effectively improved, and the pressure fluctuation could be suppressed by the method. The test platform was built. The test results showed that the maximum lifting pressure of the uncorrected system was 4.6MPa and the pressure oscillation was decreased. In contrast, the maximum pressure of the corrected system was only 3.8MPa, and the pressure was relatively gentle. In the impact interference test, the maximum pressure of the original system reached 6.5MPa, and the pressure fluctuation range was 6MPa. In contrast, the corrected maximum pressure was only 4.6MPa, and the pressure fluctuation range was 4.2MPa. Compared with the locking condition of the original system, the pressure fluctuation range was reduced by 30%. The results showed that the proposed dynamic pressure feedback correction method of the tractor electro-hydraulic hitch can well restrain the pressure fluctuation of the hydraulic cylinder of the tractor electro-hydraulic hitch, protect the agricultural machinery, reduce the pitching movement and improve the comfort of the driver.

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劉長(zhǎng)卿,華博,杜岳峰,李臻,朱忠祥,毛恩榮.拖拉機(jī)電液懸掛系統(tǒng)動(dòng)壓反饋校正方法研究[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2020,51(s1):535-541. LIU Changqing, HUA Bo, DU Yuefeng, LI Zhen, ZHU Zhongxiang, MAO Enrong. Dynamic Pressure Feedback Correction Method for Tractor Electro Hydraulic Hitch[J]. Transactions of the Chinese Society for Agricultural Machinery,2020,51(s1):535-541.

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  • 收稿日期:2020-08-04
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  • 在線發(fā)布日期: 2020-11-10
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