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基于分層控制的大功率拖拉機前橋懸架減振系統(tǒng)研究
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國家重點研發(fā)計劃項目(2017YFD0700101)


Design and Experiment of Vibration System for Front Axle Suspension of High-power Wheeled Tractor Based on Hierarchical Control
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    摘要:

    大功率輪式拖拉機質(zhì)量大、車身重心高,在高速運輸作業(yè)時受路面不平度影響,易產(chǎn)生劇烈的顛簸振動,直接影響拖拉機操縱穩(wěn)定性和行駛平順性,甚至危及行駛安全?;诖?,綜合考慮大功率輪式拖拉機車身振動加速度與懸架動撓度的變化及懸架系統(tǒng)充放油過程中的非線性控制等問題,提出了適用于大功率輪式拖拉機前橋懸架減振系統(tǒng)的設計與控制方案。首先,設計了前橋懸架減振系統(tǒng),建立了帶前橋懸架的1/4拖拉機振動模型;其次,在充分考慮前橋懸架控制系統(tǒng)特點的基礎上,建立了基于參考天棚-地棚模型的分層控制算法,構建了Matlab/Simulink仿真模型,并與常規(guī)PID算法對比分析,結果表明分層算法的控制性能優(yōu)于常規(guī)PID控制;最后,搭建了前橋懸架系統(tǒng)硬件在環(huán)仿真平臺和室內(nèi)試驗平臺,開展了懸架減振控制策略和控制效果的試驗驗證。試驗結果表明,基于參考天棚-地棚模型的分層控制算法能快速調(diào)整控制參數(shù),所設計懸架系統(tǒng)的車身振動加速度均方根降低至2.36m/s2左右,較被動懸架下降558%,同時懸架動撓度的均方根被限定在較小范圍內(nèi),明顯優(yōu)于被動懸架系統(tǒng),滿足大功率輪式拖拉機前橋懸架的減振需求,且試驗結果與仿真結果能較好地匹配,驗證了減振方案的有效性。該研究可為大功率輪式拖拉機前橋主動懸架系統(tǒng)的研發(fā)提供理論參考。

    Abstract:

    Owing to high center of mass and heavy tractor body, the high-power wheeled tractor has a tendency to bump when it drives on the bumpy farmland during high-speed transportation. Especially the frequency of the excitation from ground is approximately the inherent frequency of the front axle suspension, which will result in handling stability and ride comfort or even endangering security of its driving. Based on it, through comprehensively considering the simulations control of body vibration acceleration and displacement of suspension and the nonlinear control of suspension system in the process of filling a discharging oil, a damping scheme for front axle suspension of high-power wheeled tractor was put forward. Firstly, the front axle suspension damping system was designed, and a 1/4 tractor vibration model with front axle suspension was established. Secondly, based on the control characteristics of the front axle suspension, a hierarchical control algorithm based on the reference sky-hook and ground-hook model for active suspension system was proposed. The simulation model was constructed by using Matlab/Simulink and compared with the conventional PID algorithm. The simulation results indicated that the hierarchical algorithm was better than the PID control. Finally, the HILS platform of the control system and the indoor test platform of the front axle suspension system were built, at the same time, the suspension vibration control strategy gest verification was carried out. The test results showed that the hierarchical control algorithm based on the reference sky-hook and ground-hook model can quickly adjust the control parameters, the root mean square of the body vibration acceleration of the designed suspension system was reduced to about 2.36m/s2, which was 55.8% lower than that of the passive suspension. At the same time, the root mean square of the suspension dynamic deflection was limited to a small range, which was obviously better than passive suspension system, and met the vibration reduction requirements of the front axle suspension of high-power wheeled tractor. The test results were well matched with the simulation results, which verified the effectiveness of the vibration reduction scheme. Thereby, the research result can provide reference for the design and development of the front axle active suspension system for high-power wheeled tractor.

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毛恩榮,齊道新,顧進恒,杜岳峰,顧展布,羅振豪.基于分層控制的大功率拖拉機前橋懸架減振系統(tǒng)研究[J].農(nóng)業(yè)機械學報,2022,53(7):404-413. MAO Enrong, QI Daoxin, GU Jinheng, DU Yuefeng, GU Zhanbu, LUO Zhenhao. Design and Experiment of Vibration System for Front Axle Suspension of High-power Wheeled Tractor Based on Hierarchical Control[J]. Transactions of the Chinese Society for Agricultural Machinery,2022,53(7):404-413.

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  • 收稿日期:2021-08-12
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  • 在線發(fā)布日期: 2022-07-10
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