| 基于推杆电动机的拖拉机液压悬挂控制系统 |
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| 引用本文： | 罗锡文,单鹏辉,张智刚,张继勋,刘兆朋,张亚娇.基于推杆电动机的拖拉机液压悬挂控制系统[J].农业机械学报,2015,46(10):1-6. |
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| 作者姓名： | 罗锡文 单鹏辉 张智刚 张继勋 刘兆朋 张亚娇 |
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| 作者单位： | 华南农业大学,华南农业大学,华南农业大学,山东省收获机械与拖拉机关键技术重点实验室,华南农业大学,华南农业大学 |
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| 基金项目： | 国家高技术研究发展计划（863计划）资助项目（2013AA102307）和广东省高等学校科技创新重点资助项目（cxzd1136） |
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| 摘 要： | 设计的拖拉机液压悬挂自动控制系统包括推杆电动机、传动机构和控制单元ECU等。控制单元ECU实时接收上位机决策控制指令,控制推杆电动机驱动拖拉机液压悬挂的提升器,调整作业机具至适宜的位置。设计了双阈值斜坡启动和反馈PI算法相结合的PWM电动机控制方法,启动阶段以前馈斜坡输入控制为主,使推杆电动机可以平稳且快速地启动;主体运行阶段以PI反馈控制为主,以提高控制速度和精度。采用C语言实现整个控制系统编程,包括电动机反馈信号的AD转换采集、电动机的PID控制、上下位机的CAN通讯以及串口通讯等内容。试验测试结果表明,前馈斜坡启动方式可以较好地避免电动机启动时的瞬间冲击电流;当死区阈值设置为10(AD)时,最大误差范围为±11(AD),体现在推杆电动机上的行程误差为±0.26 mm,满足拖拉机液压悬挂系统的自动操纵控制要求。
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| 关 键 词： | 拖拉机 液压悬挂系统 自动驾驶 推杆电动机 |
| 收稿时间： | 2015/1/14 0:00:00 |
Electrohydraulic Hitch Control System for Tractor Based on Linear Actuator |
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| Luo Xiwen,Shan Penghui,Zhang Zhigang,Zhang Jixun,Liu Zhaopeng and Zhang Yajiao.Electrohydraulic Hitch Control System for Tractor Based on Linear Actuator[J].Transactions of the Chinese Society of Agricultural Machinery,2015,46(10):1-6. |
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| Authors: | Luo Xiwen Shan Penghui Zhang Zhigang Zhang Jixun Liu Zhaopeng and Zhang Yajiao |
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| Institution: | South China Agricultural University,South China Agricultural University,South China Agricultural University,Shandong Provincial Key Laboratory of Combine Harvester and Tractor Critical Technology,South China Agricultural University and South China Agricultural University |
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| Abstract: | Electrical control of tractor electro hydraulic hitch system is an important part of the tractor automated driving system. The electrohydraulic hitch control system included the linear actuator, transmission mechanism and single-chip microcomputer control unit. The control unit ECU received decision-making control command from host machine real-time, controlled the rod lifter motor to drive tractor hydraulic lifter and adjust the implements to the suitable position. PWM motor control method with the slope feedforward and PI feedback control algorithm was adopted as the main program. Slope feedforward control algorithm was used at the starting stage to make motor start smoothly. PI control algorithm was used at the steady stage to minimize the movement time of the motor and improve the position control precision of the motor. Control unit was responsible for receiving the linear actuator feedback information to decide and produce appropriate PWM signal, which adjusted the speed and the location of the hitch control system. The ECU hardware system was developed based on Cygnal C8051F040 micro-processor. The whole control software system was realized by using C language programming and its main functions included CAN communication between host computer and slave ECU, AD conversion of the motor feedback signal, the PID control and serial interface communication, etc. The deadzone threshold was set to 10 (AD), the maximum error range was ±11 (AD), which indicated that the displacement error of linear actuator was less than 0.26 mm. It conforms to the requirements of the motor control design. This system can be added onto traditional tractor to realize the accurate position control of agricultural implements. |
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| Keywords: | Tractor Hitch control system Unmanned system Linear actuator |
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