东方红拖拉机电控液压转向系统设计及试验研究

为实现农业机械自动导航,在东方红-X804拖拉机平台上设计了电控液压转向系统。首先阐述了系统整体设计方案,介绍了系统的组成及工作原理;针对系统非线性特性,采用双闭环控制方法,解析了控制原理。同时,对该系统进行动态分析,推导建立了系统数学模型,使用Mat Lab工具箱进行系统辨识得到传递函数的参数。试验结果表明:系统属于存在不灵敏区的饱和非线性类型,转向角和油缸伸缩量之间呈现近似二阶线性拟合关系,双闭环转向控制方法有效提高了农业导航控制精度。

Steering System Design and Experiment Research for Dongfanghong-X804 Tractor

An electro-hydraulic steering system was developed based on Dongfanghong -X804 tractor to realize autono-mous navigation of agricultural machinery .The make-up of the whole steering system , function of each sensor and the working principle are presented .According to characteristic of the system nonlinear , a double closed-loop control algo-rithm for steering system was designed .Then the mathematical model of steering system was derived from the analysis of the force balance equation of the hydraulic cylinder , using Matlab system identification toolbox to estimate transfer func-tion parameters .Finally , test result showed that the system belongs to saturated nonlinear type , and the performance of steering control system was improved , which indicated that double closed-loop steering control algorithm on uneven field is appropriated to Dongfanghong X-804 tractor .