基于MATLAB/Simulink和ADAMS的拖拉机建模与振动仿真分析

基于多体动力学研究的理论和方法,利用MATLAB和ADAMS软件分别建立JS-754拖拉机振动的数学模型和机械模型,进行随机振动和脉冲输入的平顺性仿真分析。数学模型包括利用拉格朗日第二方程建立拖拉机3自由度振动模型,从轮胎动态特性出发,建立拖拉机整车—轮胎耦合系统;机械模型借助虚拟样机技术对JS-754拖拉机整车实体建模,并定义整车各个部件约束关系。仿真结果表明,JS-754拖拉机在D级路面下座椅处垂向加速度均方根值为0.390 9 m/s2,脉冲激励输入下座椅处垂向加速度最大响应小于34.59 m/s2。仿真得到轮胎特性随车行驶时变化曲线,座椅处振动频率的范围集中在3-5 Hz。研究表明,JS-754拖拉机平顺性较好,提出的拖拉机振动建模方法具有较强的参考价值,可为拖拉机以及其他非道路车辆平顺性的研究提供理论依据和建模思路。     

悬挂装置参数对拖拉机振动特性的影响

为研究不同农具位置对悬挂农具拖拉机振动特性的影响,以东方红-LX754拖拉机和淮丰1LS-740深松机为研究对象,采用CATIA软件建立拖拉机和农具简化的几何模型以及MATLAB编写随机路面文件,并基于ADAMS软件修改轮胎参数文本和导入随机路面激励文件,构建深松机-拖拉机-路面系统的虚拟样机。通过仿真研究悬挂装置参数对拖拉机驾驶员垂向振动加速度、座椅安装处俯仰振动角加速度、拖拉机质心垂向振动加速度的影响。结果发现,内提升臂与水平方向的夹角从20°增大到70°时,驾驶员垂直振动加速度峰值从30.09 m/s~2降低到17.61 m/s~2,垂直振动峰值频率从1.36 Hz增大到2.12 Hz,座椅安装处俯仰振动角加速度峰值从11.12 rad/s降低到7.56 rad/s,拖拉机质心垂直振动加速度峰值从42.42 m/s~2降低到29.33 m/s~2。     

Development of the Berry Impact Recording Device sensing system: Software

This paper reports a complete impact data acquisition, processing, and analyzing software system that applies on the hardware platform of the Berry Impact Recording Device (BIRD). The software has three major sections that correspond to the hardware: The BIRD sensor program, the interface box program, and the computer software i-BIRD. The sensor program samples acceleration data from three axes and records them as single impacts with a maximum sampling rate of 3.0 kHz. Users can configure the sensor via the i-BIRD computer software, with different options of sampling frequencies (682-3050 Hz) and thresholds (0-205 g, where g is the gravitational acceleration). The data recorded can be downloaded, processed and graphically displayed on the computer. A real time clock was created using the interrupt service routine provided by the microcontroller. The accuracy of the sensor’s clock was calibrated with an error of 0.073%, which was adequate to record impact data in this application. The shape of impact curves recorded by the BIRD sensor at three sampling frequencies (682, 998, and 1480 Hz) matched well with the curves recorded by a high frequency (10 kHz) data logger with the maximum root mean squared error of 4.4 g. The velocity change had a relative error less than 5%. With confirmation of all those performances, the software system enabled the BIRD to be a useful tool to collect impact data during small fruit (such as blueberry) mechanical harvest.     

基于高速摄影的冬枣果实振动脱落规律分析

为研究冬枣振动采收过程中果实的运动规律和脱落轨迹,采用改装的电动往复锯连接自制振动采摘头对树枝进行高速振动,用高速相机记录不同振动频率(15、20、25 Hz)下冬枣果实的运动轨迹,对高速视频进行分析,计算在振动过程中的枣果脱落类型、脱落时间和运动轨迹,以及果实脱落时的速度、加速度和惯性力。结果表明:1)冬枣果实的主要脱落类型是旋倾型,15、20和25Hz时,旋倾型脱落的果实个数比例分别为81%、66%和78%,参考已有研究经验,冬枣机械收获宜选用连续式振动设备;2)随着振动频率的增大,果实的平均脱落时间减小,3个频率的果实脱落时间分别为1.71、0.54和0.43s,15Hz时果实脱落时间与20和25Hz时的果实脱落时间存在显著性差异,而20与25Hz时的果实脱落时间无显著性差异;3)果实的速度和加速度随着振动频率的增大而增大,但不同频率的果实平均脱落惯性力不存在显著性差异,3个频率下分别为0.48、0.43和0.49N。本研究结果可为机械收获装备的设计选型与研发提供理论依据。     

剪式座椅和前桥空气悬架匹配对拖拉机振动特性的影响

以常发CF700型拖拉机为研究对象,基于MATLAB/SIMULINK为研究平台,选用布置空气弹簧的剪式座椅悬架和前桥空气悬架,建立拖拉机系统的四自由度平面振动模型。通过仿真分析得到,拖拉机机身质心垂向加速度均方根值、俯仰角方向加速度均方根值、座椅垂向加速度均方根值以及前轮胎动载荷均方根值较无悬架拖拉机系统分别下降了16.92%、36.82%、32.71%和20.57%。在GB/T 10910-2004规定的100 m较平滑跑道上对样机进行振动测试并与同等条件下的仿真结果对比,结果表明平均误差率为11.37%,在可接受的范围内,仿真结果可以真实反映拖拉机的振动趋势。     

悬挂农具对拖拉机转向乘坐舒适性的影响

以某型拖拉机和深松机为研究对象,在UG中建立拖拉机和农具的三维模型并导入ADAMS中,建立人-机-路面的虚拟样机模型,对农具质量和悬挂位置在拖拉机转向过程中驾驶员乘坐舒适性的影响进行了研究.结果表明:在拖拉机空载和悬挂农具质量为300 kg、600 kg和900 kg的情况下,拖拉机驾驶员的联合加权加速度均方根值为0.434、0.474、0.566和0.629 m·s-2;在拖拉机悬挂农具内提升臂和水平方向夹角从20°提升到45°、70 °的情况下,拖拉机驾驶员的联合加权加速度均方根值为0.710、0.629和0.558 m·s-2,悬挂农具的质量越大,农具的悬挂角度越小,驾驶员的联合加权加速度均方根值越大,驾驶员越不舒服.该研究为后期的拖拉机的减振设计提供了重要参考.     

板栗树振动响应特性与落果情况试验研究

为解决板栗人工采收效率低、成本高的问题,对板栗机械振动采收装备的设计提供参数支持.针对3棵板栗树,通过单偏心式振动电机激振树干对板栗树各分枝上加速度响应以及落果情况进行了试验研究.结果表明:3棵树树干和各果枝测点处的合加速度均与激振频率呈二次曲线增长关系,激振频率的增加有利于板栗树各果枝振动响应的增强;但受距激励点的距...     

振动挖掘式马铃薯收获机设计与试验(英文)

为进一步解决我国丘陵山区马铃薯机械化收获问题,依据振动减阻收获机理,设计了一种与手扶拖拉机配套使用的振动挖掘式马铃薯收获机。对该收获机振动挖掘装置作业机理和振动铲运动学、动力学特性进行了研究分析,并确定了振动铲相关结构和工作参数。以机组前进速度、振动铲振频、振动铲振幅为试验因素,伤薯率和明薯率为试验指标进行了三元二次正交旋转组合试验。运用数据处理软件对回归方程进行了显著性分析,并建立了各试验因素与指标之间的数学模型。优化得出最佳因素组合为:机组前进速度0.85 m/s、振动铲振频12 Hz、振动铲振幅14.5 mm、伤薯率1.21%、明薯率98.51%。最佳参数组合下的验证试验结果表明:平均伤薯率1.28%、平均明薯率98.48%,作业性能符合马铃薯收获要求。     

EM38 for volumetric soil water content estimation in the root-zone of deep vertosol soils

Electromagnetic induction sensors, such as EM38, are used widely for monitoring and mapping soil attributes via the apparent electrical conductivity (EC_a) of the soil. The sensor response is the depth-integrated combination of the depth-response function of the EM38 and ‘local’ electrical conductivity (EC_az) at depth. In deep, Vertosol soils, assuming the instrument depth-response function is not perturbed by the soil and where volumetric moisture content at depth (θ_v(z)) dominates EC_az, EM38 should be capable of predicting average moisture content without recourse to mathematically complicated, and unstable profile inversion processes. Firstly a multi-height EM38 experiment was conducted over deep Vertosol soils to confirm the veracity of the EM38 depth-response function and test the concomitant hypothesis of the EM38 response being an integrated (i.e. additive) combination of depth-response function and θ_v(z). Secondly, depth profiles of moisture content were used to calibrate the EM38 to infer average θ_v(z) within the ‘root-zone’ of crop plants—here taken to be surface—0.8 m and surface—1.2 m. EM38 calibration was performed using soil samples acquired from both extracted cores and excavated pits. Mathematical summation of measured θ_v(z) from sectioned cores and the known depth-response function of the EM38 was found to explain 99% and 97% of the variance in measured EC_a for horizontal and vertical dipole configurations at multiple sensor heights above the ground. Average θ_v from surface to 0.8 m () and surface to 1.2 m () explained only 37% and 46% of the variance in on-ground EC_a for vertical dipole configuration measurements compared to 55% and 56% of the variance for horizontal dipole configuration. In a separate validation experiment, the shape of the vertical moisture profile proved highly influential in determining the ability of the calibration equations to infer underlying average moisture content, especially where the depth profile shapes differed between sensor calibration and subsequent field validation (for example following rainfall or irrigation).     

基于DELMIA拖拉机驾驶室人机系统静态舒适性分析

拖拉机驾驶室作为操纵拖拉机的作业场所,其设计合理性对驾驶员的安全性、舒适性及作业效率具有重要影响。基于此,依托DELMIA人因工程学仿真分析软件建立第5、50和95百分位驾驶员人机系统模型,对驾驶员的视野、上肢伸展域、坐姿舒适度及换挡舒适性等静态舒适性进行分析与评价。结果表明,各体型驾驶员工作视野开阔,上肢可达性良好,第50百分位驾驶员驾驶坐姿舒适性略优于第5和95百分位驾驶员,第5和50百分位驾驶员换挡姿势舒适性优于第95百分位驾驶员,驾驶室整体布局合理,人机匹配性良好。     

Determination of visual quality of tomato paste using computerized inspection system and artificial neural networks

An artificial neural network (ANN) integrated computerized inspection system (CIS) was developed to determine tomato paste color in CIE L^∗, a^∗, and b^∗ color format and the number and size of dark specks which exist in the product. The usability of CIS in the determination of the number and the size of dark specks in tomato paste were investigated by comparing the results of CIS and human inspectors. While the inspectors had difficulties not only in determination of the specks having a diameter less than 0.2 mm but also in correct diameter measurement for all specks, the CIS had good determination and measurement capability. In 99 tomato paste samples, the number of the specks having diameter more than 0.2 mm were found by human inspectors and CIS as 233 and 235, respectively. However, the manual inspection gave inaccurate results for the diameter measurement of the specks. In the color evaluation of the tomato paste, strong correlations (R) were found between the results estimated from ANN-integrated CIS and those obtained from colorimeter (0.889, 0.958, 0.907 and 0.987 for L^∗, a^∗, b^∗ and a^∗/b^∗, respectively). The whole system is adapted to a graphical user interface (GUI) for use by a non-skilled person working in the tomato paste sector. While manual methods need approximately 5 min, GUI needs 20-25 s to determine, count and classify the dark specks and to measure the product color.     

苹果运输振动损伤初探

利用振动试验台,进行了苹果运输振动损伤的模拟试验。结果表明：当振动频率为２Ｈｚ,加速度＞１．０×９．８ｍ／ｓ２时,包装箱内与各层包装箱的加速度均大于振动台面的加速度,且由底层向顶层递增;包装箱内损伤体积中层＞底层＞顶层;这两种工况的损伤体积均随加速度的增加而线性增加;加缓冲材料可使损伤体积减少５０％．     

DG3型割灌机振动的实验研究

该文对国产ＤＧ３型割灌机的振动频谱以及各振源点与手柄间的振动传递函数进行了实验分析．结果表明，在工作转速（６０００ｒ／ｍｉｎ）下的振动加速度几乎都集中在６０～２００Ｈｚ范围内，并且７６Ｈｚ，１００Ｈｚ和１５２Ｈｚ是３个主要支配性峰值，它们是减振的主要对象频率；轴承Ｂ１，Ｂ２，Ｂ３处与手柄Ａ点的振动传递函数值比其它大，而且Ｂ１的影响最主要；长轴上各激振点上下方向（ｚ方向）与Ａ点左右方向（ｘ方向）之间的传递函数在６０～８０Ｈｚ之间存在一个峰值     

基于ADAMS的轮式拖拉机行驶平顺性研究

基于Pro/E软件平台,构建拖拉机-座椅悬架系统简化的几何模型,并将其导入ADAMS软件,编写轮胎属性文件与路面激励文件,构建拖拉机-座椅-路面系统的虚拟样机。针对不同的行驶速度与路面激励,对拖拉机的行驶平顺性进行仿真分析,探究行驶速度与路面激励对拖拉机平顺性的影响。结果表明,行驶速度与路面激励不平度对拖拉机行驶平顺性具有重要影响,以较高车速行驶时,驾驶员垂直方向振动强度明显高于较低车速的振动强度;在粗糙路面上行驶时,驾驶员的主观振动感明显强于平坦路面的振动感。增设座椅悬架系统改进拖拉机座椅结构,探究增设座椅悬架系统对行驶平顺性的影响,结果表明,增设座椅悬架系统可以明显降低其垂直方向的振动幅度,避开人体内脏器官和脊椎系统振动敏感频率区域,提高拖拉机行驶的平顺性。     

Assessment of forage mass from grassland swards by height measurement using an ultrasonic sensor

The non-destructive assessment of forage mass in legume-grass mixtures as a tool for yield mapping in precision farming applications has been investigated in two field experiments. An ultrasonic sensor was used to determine sward heights. Forage mass-height relationships were evaluated by carrying out static measurements on binary legume-grass mixtures of white clover (Trifolium repens L.), red clover (Trifolium pratense L.), and lucerne (Medicago sativa L.) with perennial rye grass (Lolium perenne L.) across a wide range of sward heights (5.0-104.2 cm) and forage mass (0.15-11.25 t ha⁻¹). Mobile measurements, hereafter referred to as “on-the-go” were conducted by mounting the ultrasonic sensor in combination with a high-precision Differential Global Positioning System (DGPS) on a vehicle. Data were recorded along experimental plots consisting of perennial rye grass and grass-clover mixtures similar to the mixtures that were used for the static experiment. The static experiment revealed a relationship between ultrasonic sward height and forage mass explaining 74.8% of the variance with a standard error (SE) of 1.05 t ha⁻¹ in a common dataset. The type of legume species, weed proportion, and growth period had a significant impact on the above mentioned relationship. Legume-specific regression functions had higher R²-values of up to 0.855 (white clover mixture). Datasets including legume-specific mixtures and pure swards of both components reached comparable R² values between 0.799 and 0.818 but exhibited higher SE values. The abundance of weeds resulted in increased ultrasonic sward heights for the same levels of forage mass. On-the-go measurements across experimental field plots yielded a sward height range of 1.4-70.4 cm. Abrupt forage mass changes at the transition from treatment plots to cut interspaces resulted in a significant deviation from stubble height within a distance of 50 cm to plot borders. When legume-specific equations derived from static measurements were applied to sward heights, forage mass was overestimated by 21.4% on average. Mean residuals from predicted forage mass ranged between 0.893 (pure grass) and 1.672 (red clover mixture) and increased significantly if the point sampling distance along the track was increased to more than 0.82 m on average across all plots. The prediction accuracy of forage mass from ultrasonic height measurements is promising; however, further modifications to the technique are necessary. One such improvement can be the use of spectral reflectance signatures in combination with the ultrasonic sensor.     

Aerodynamic analysis and CFD simulation of several cellulose evaporative cooling pads used in Mediterranean greenhouses

The present work makes an aerodynamic analysis and computational fluid dynamics (CFD) simulation of the four commercial models of corrugated cellulose evaporative cooling pads that are most widely used in Mediterranean greenhouses. The geometric characteristics of the pads have been determined as well as the volume of water they retain at different flows of water, thus obtaining the mean thickness of the sheet of water which runs down them and their porosity. By means of low velocity wind tunnel experiments, the pressure drop produced by the pads has been recorded at different wind speeds and water flows. In this way it has been possible to obtain the relationship of the permeability and the inertial factor with pad porosity using a cubic type equation. Finally, a CFD simulation with a 3D model has been carried out for both dry pads (Q_w = 0 l s⁻¹ m⁻²) and wet ones (Q_w = 0.256 l s⁻¹ m⁻²), finding good correlation between the simulated and experimental pressure drop, with maximum differences of 9.08% for dry pads and 15.53% for wet ones at an airspeed of 3 m s⁻¹.     

基于模态的联合收获机车身框架振动特性分析与结构优化

以某联合收获机主机车身框架为研究对象,采用有限元柔性体技术创建车身框架的有限元柔性体模型,并在其基础上进行模态分析与计算。结果表明,车身框架的第一阶模态频率为7.29 Hz,与收获机正常工作时割刀的激励频率(7Hz)接近,易发生共振,且对人体舒适性影响最大。为了调整收获机车身框架的固有频率,以避开外部激振频率范围,采用HyperMesh软件对收获机车身框架柔性体模型进行尺寸优化和拓扑优化,结果表明,尺寸优化后,收获机车身框架的第一阶模态频率由优化前的7.29 Hz提升至8.63 Hz,车身框架质量下降了0.006t;拓扑优化后,收获机车身框架的第一阶模态频率由优化前的7.29Hz提升至8.49Hz,车身框架质量下降了0.107t。拓扑优化与尺寸优化均可使收获机车身框架固有频率避开外部激振频率范围,但综合考虑优化设计的目标与生产制造成本,采用尺寸优化技术对收获机车身框架进行结构优化更为适合。     

Estimating the variability of tillage forces on a chisel plough shank by modeling the variability of tillage system parameters

In this paper, a probabilistic approach is proposed for quantifying the variability of the tillage forces for the shank of a chisel plough with narrow tines and to estimate the failure probability. An existing three-dimensional analytical model of tool forces from McKyes was used to model the interaction between the tillage tools and the soil. The variability of tillage forces was modeled, taking into account the variability of soil engineering properties, tool design parameters and operational conditions. The variability of the soil engineering properties was modeled by means of experimental observations. The dispersion effect of each tillage system parameter on the tillage forces was determined by a sensitivity analysis. The results show that the variability of the horizontal and vertical forces follows a lognormal distribution (μ = 0.872, ξ = 0.449; μ = 0.004, ξ = 0.447) and the relationship between these forces is positive and quasi-linear (ρ(P_H, P_v) = 0.93).This lognormal variability was integrated into the estimation of the failure probability for the shank by using Monte Carlo simulation (MCS) and the first-order reliability method (FORM). The results obtained by these two methods, with the assumption of non-correlation between the horizontal and vertical forces, were almost identical. However, the FORM method was faster and simpler, compared to the MCS technique. Furthermore, the correlation between the horizontal and vertical forces has no significant effect on the failure probability, regardless of the correlation strength. Therefore, it is concluded that the FORM method can be used to estimate the failure probability without considering the correlation between horizontal and vertical forces.     

A web-based model for simulating whole-farm beef cattle systems

This paper details the rationale and procedures included in a web-based simulator containing production of beef cattle and cash crops. All biophysical and economical definitions including management in terms of rules constitute user-defined scenarios, which can be saved, retrieved, modified and deleted. Herbage growth may be either provided by the user or estimated from daily climate information. Scenarios are simulated and their outcomes are sent to the user's e-mail as a spreadsheet file, including data and pre-designed graphs to facilitate the interpretation of results. An example simulation study of a grazing-based finishing beef steers with a cycle of 12 months is presented, where new weaners enter the system in the autumn. Increased stocking rates, SR (150, 170, 190 and 210 heads in a 100-ha farm) and different summer maize feeding (SMF) rates were compared (SMF₀ = control and SMF₁ = intermittent rule-driven maize feeding during summer). In this simulation study, “deviations” from user-defined targets are simplified into two associated rules (a) average farm herbage mass deviation to adjust herbage allowance, and (b) target animal live weight deviation, associated to SMF₁. The proportion of unfinished steers at 28th February increased linearly (p ≤ 0.01) with higher stocking rates and became zero at any stocking rate where the SMF rule was operating (SMF₁). The economic response of SR × SMF interaction was significant for gross margin, indicating a positive linear association (p ≤ 0.05) of SMF₁ treatment (rule activated) when SR increases. The potential use of the web simulator as a flexible tool for investigation, training and decision making are discussed.     

A new integrated CFD modelling approach towards air-assisted orchard spraying—Part II: Validation for different sprayer types

A computational fluid dynamics (CFD) model to simulate airflow from air-assisted orchard sprayers through pear canopies was validated for three different sprayers; single-fan (Condor V), two-fan (Duoprop) and four-fan sprayers (AirJet Quatt). The first two sprayers are widely used in Belgium and the latter one is a new design. Validation experiments were carried out in an experimental orchard (pcfruit, Velm, Belgium) in spring 2008. Ultrasonic anemometers were used to measure the time-averaged velocity components at different vertical positions before the tree and after the tree when the sprayers were driven through the orchard. The model was able to predict accurately the peak jet velocity, U_m from all the sprayers considered at all distances from the sprayer centre and vertical positions. More than 95% of the local relative errors of U_m were below 20%. Average relative errors, E, and root mean square errors, E_RMS, were all less than 11.04% and 1.68 m s⁻¹, respectively. The regions of high- (up to 18.0 m s⁻¹ upstream) and low (down to 2.8 m s⁻¹ downstream)-air velocity zones for all the sprayers were accurately predicted. The simulation results showed that the Condor V sprayer had a highly disturbed vertical jet velocity profile, especially at higher heights. The Duoprop sprayer had high jet velocities at the two-fan positions and lower jet velocity in between the two fans. Within the canopy height the AirJet Quatt sprayer showed a more uniform distribution of air than the other two sprayers except the minor peaks at the fan positions. These situations were all confirmed by the measurements.