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靜液壓傳動拖拉機(jī)定速巡航控制系統(tǒng)設(shè)計(jì)與試驗(yàn)
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國家重點(diǎn)研發(fā)計(jì)劃項(xiàng)目(2017YFD0700400、2017YFD0700402)、現(xiàn)代農(nóng)業(yè)產(chǎn)業(yè)技術(shù)體系專項(xiàng)資金項(xiàng)目(CARS-02)和北京市農(nóng)林科學(xué)院科研創(chuàng)新平臺建設(shè)項(xiàng)目(PT2020-22)


Design and Experiment of Cruise Control System for Hydrostatic Transmission Tractor
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    摘要:

    針對現(xiàn)有農(nóng)機(jī)速度調(diào)節(jié)策略功率匹配度不高、燃油經(jīng)濟(jì)性差的問題,以靜液壓傳動拖拉機(jī)為平臺,基于CAN總線設(shè)計(jì)了拖拉機(jī)定速巡航控制系統(tǒng)。該系統(tǒng)由拖拉機(jī)工況采集、負(fù)載檢測、油門控制、變量泵排量調(diào)節(jié)、作業(yè)負(fù)載調(diào)節(jié)、通信等模塊組成。設(shè)計(jì)了油門調(diào)節(jié)機(jī)構(gòu)和負(fù)載調(diào)節(jié)裝置,獲取并解析了拖拉機(jī)工況數(shù)據(jù),建立了靜液壓傳動拖拉機(jī)油門開度、變量泵排量與速度對應(yīng)的數(shù)學(xué)模型,制定了發(fā)動機(jī)轉(zhuǎn)速與變量泵排量協(xié)同控制策略。分別在水泥路面空載、田間空載和平地作業(yè)3種工況下進(jìn)行了協(xié)同控制策略試驗(yàn),在平地作業(yè)工況下進(jìn)行了定油門控制策略、油門排量耦合控制策略和油門排量協(xié)同控制策略試驗(yàn)。結(jié)果表明,3種工況下,協(xié)同控制策略的速度控制絕對誤差分別為0.005、0.007、0.012m/s;在達(dá)到相同目標(biāo)速度的前提下油門排量協(xié)同控制策略降低了發(fā)動機(jī)轉(zhuǎn)速。拖拉機(jī)定速巡航控制系統(tǒng)能夠在保證速度控制精度的前提下,減小燃油消耗。

    Abstract:

    Aiming at the problems of low power matching degree and poor fuel economy of the existing agricultural machinery speed regulation strategy, taking hydrostatic tractor as the platform, the cruise control system of the tractor was designed based on CAN bus. The system was composed of a tractor working condition acquisition module, a throttle control module, a variable pump displacement adjustment module, a work tool lifting control module, and a communication module. Devices of throttle adjustment and load adjustment were developed. Tractor working condition data was analyzed. Mathematical model of throttle opening, variable pump displacement and tractor speed was established. A strategy for cooperative control of engine speed and variable pump displacement was developed. The cooperative control strategy experiments on empty cement roads, empty farmland and flat working conditions were conducted; and the experiment of the fixed throttle control strategy, the throttle displacement coupling control strategy and the throttle displacement cooperative control strategy was carried out under the flat operation conditions. The test results showed that the absolute error of speed control of the cooperative control strategy was 0.005m/s, 0.007m/s and 0.012m/s under the three working conditions of cement pavement, field no-load and flat land operation; the cooperative control strategy reduced the engine speed under the premise of achieving the target speed. The control system can reduce fuel consumption while ensuring the accuracy of speed control.

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趙春江,魏傳省,付衛(wèi)強(qiáng),尚業(yè)華,張光強(qiáng),叢岳.靜液壓傳動拖拉機(jī)定速巡航控制系統(tǒng)設(shè)計(jì)與試驗(yàn)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2021,52(4):359-365. ZHAO Chunjiang, WEI Chuansheng, FU Weiqiang, SHANG Yehua, ZHANG Guangqiang, CONG Yue. Design and Experiment of Cruise Control System for Hydrostatic Transmission Tractor[J]. Transactions of the Chinese Society for Agricultural Machinery,2021,52(4):359-365.

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  • 收稿日期:2020-12-21
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  • 在線發(fā)布日期: 2021-04-10
  • 出版日期: 2021-04-10