| 四轮转向液压底盘自动驾驶系统设计 |
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| 引用本文： | 范晓冬,魏新华.四轮转向液压底盘自动驾驶系统设计[J].农机化研究,2017(5):253-258. |
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| 作者姓名： | 范晓冬 魏新华 |
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| 作者单位： | 江苏大学 现代农业装备与技术教育部重点实验室,江苏 镇江,212013 |
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| 基金项目： | 国家“863计划”项目(2013AA 102307)；江苏省农业科技支撑计划重点项目( BE2013401)；江苏高校优势学科建设工程资助项目(苏政办[2014]37号) |
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| 摘 要： | 针对“精准农业”的作业需求,为提高植保机械的作业精度,降低驾驶人员的工作强度,设计了一种四轮转向液压底盘自动驾驶系统。该系统主要由车载电脑、行车控制器、RTK-DGPS采集装置、电控液压转向装置及行车状态采集装置等组成。行车状态采集装置采集行车参数信息并基于i CAN通信协议进行系统通信。车载电脑根据导航控制模型和各传感器实时参数生成控制指令,行车控制器根据车载电脑指令根据四轮车运动模型生成电控信号,并通过各电磁阀控制液压马达和转向油缸实现对底盘4个轮的转向。试验结果表明:当底盘前进速度为2m/s时,平均跟踪误差不超过0.04m。
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| 关 键 词： | 四轮转向 液压系统 CAN总线 RTK-DGPS 自动驾驶 |
Design of Four Wheel Steering Hydraulic Chassis Automatic Driving System |
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| Fan Xiaodong,Wei Xinhua.Design of Four Wheel Steering Hydraulic Chassis Automatic Driving System[J].Journal of Agricultural Mechanization Research,2017(5):253-258. |
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| Authors: | Fan Xiaodong Wei Xinhua |
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| Abstract: | According to the operation requirement of "precision agriculture", in order to improve the accuracy of the plant protection machinery operation , reduce the work intensity of drivers , this paper designs a kind of four wheel steer-ing hydraulic chassis automatic driving system .This system mainly includes the vehicle computer , the driving controller , the RTK-DGPS collection device , the electric control hydraulic steering device , the driving state collection equipment and so on .The driving state acquisition device collects the driving parameter information and communicates with the vehi -cle computer based on the iCAN communication protocol .The on-board computer according to the navigation control model of each sensor and real-time parameters to generate a control command , the driving controller according to the in-structions of the on-board computer according to four wheel vehicle motion model to generate control signals and through the electromagnetic valve control hydraulic motor and steering oil cylinder on the chassis of a four wheel steering control . Test results showed that:when forward speed is 2 m/s, the average tracking error is no more than 0.04m. |
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| Keywords: | four-wheel steering hydraulic system CAN-bus RTK-DGPS auto matic driving |
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