高地隙液压四轮驱动喷雾机转向防滑控制系统

建立了高地隙四轮驱动喷雾机转向过程中的线性2自由度模型,以前轮转向为例计算出了实际转向角,设计了一种以实际转速比与理论转速比差值为控制对象的转向防滑控制系统。构建了转向电液防滑系统试验装置,分别在转角为5°、10°、15°、20°、25°、30°以及转角在0°～30°连续变化时对控制系统进行了试验验证。结果表明,高地隙四轮驱动喷雾机的转向防滑控制效果良好,控制平均误差最大为2.01%,均值为1.25%。

Turning Anti-slip Control System of Hydraulic Four-wheel Drive High Clearance Sprayer

A linear 2-DOF model of steering for the four-wheel drive high clearance spray chassis was established.Taking front-wheel turning for example,the actual steering angle was calculated.A steering anti-slip control system by using absolute difference of the actual speed ratio and theoretical speed ratio as control object was designed.The device of steering anti-slip electro-hydraulic system was constructed and by experiment the designed system was verified when the turning angel were at 5°,10°,15°,20°,25°,30° respectively and turning angle changed in continuous between 0°~30°.The results show that the turning anti-slip control effect for four-wheel drive high clearance sprayer is excellent,the maximum control error is 2.01% and the average value is 1.25%.