| 拖拉机极限态侧翻回稳陀螺主动控制系统设计与试验 |
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| 引用本文： | 王龙龙,蓝鸿,周胥,陈度,何志祝,李臻.拖拉机极限态侧翻回稳陀螺主动控制系统设计与试验[J].农业机械学报,2022,53(S2):320-327. |
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| 作者姓名： | 王龙龙 蓝鸿 周胥 陈度 何志祝 李臻 |
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| 作者单位： | 中国农业大学 |
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| 基金项目： | 国家自然科学基金项目（52175259） |
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| 摘 要： | 针对拖拉机在斜坡行驶中受复杂路况激扰易引发的极限态侧翻失稳问题，基于单框架控制力矩陀螺设计了主动侧翻回稳控制系统。以单侧轮胎离地侧翻工况为主要研究对象，利用欧拉-拉格朗日方程构建了整机和力矩陀螺耦合系统的非线性侧倾动力学方程，并基于反步设计法推导了状态反馈控制律。该控制律可依据侧翻危险程度实时调整陀螺转子的进动角速度，定量输出侧翻回稳力矩。以环境障碍物和整机行驶速度为变量，开展了极限态侧翻失稳控制比例模型试验。结果表明，与无控制组相比，采用力矩陀螺主动侧翻回稳系统可显著调控拖拉机的侧倾过程，且在实际侧倾角大于静态临界侧倾角9.58%时仍能有效实现侧翻回稳。研究表明，提出的控制方法可适用于不同危险程度的极限侧翻工况，为拖拉机主动安全控制提供理论依据和技术参考。
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| 关 键 词： | 拖拉机 控制力矩陀螺 反步法 主动安全 防侧翻控制 |
| 收稿时间： | 2022/6/11 0:00:00 |
Design and Experiment of Active Rollover Control System Using Control Moment Gyroscope for Agricultural Wheeled Tractor |
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| WANG Longlong,LAN Hong,ZHOU Xu,CHEN Du,HE Zhizhu,LI Zhen.Design and Experiment of Active Rollover Control System Using Control Moment Gyroscope for Agricultural Wheeled Tractor[J].Transactions of the Chinese Society of Agricultural Machinery,2022,53(S2):320-327. |
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| Authors: | WANG Longlong LAN Hong ZHOU Xu CHEN Du HE Zhizhu LI Zhen |
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| Institution: | China Agricultural University |
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| Abstract: | An active rollover stabilization control system was designed based on a single-frame control moment gyroscope for tractors susceptible to limit state rollover instability caused by complex road conditions in slope driving. The Euler-Lagrange equations were used to construct the non-linear sway dynamics equations for the coupled system of the whole machine and the control moment gyro using the single-side tire off the ground as the main object of study. Considering the different degrees of rollover hazards under random road conditions, a state feedback control law was derived based on the backstepping design method. To ensure the smooth control process, the control law was used to adjust angular speed and angular position of the gyroscope rotor. Through the precise movement of the gyroscope rotor, the active rollover control moment of agricultural wheeled tractor was output to change the rollover trend. Finally, scaled model tests of limit state rollover instability control with different obstacles and speeds were also carried out. The results showed that compared with the uncontrolled group, the use of the moment gyroscope control system can significantly reduce the ultimate roll angle of the tractor and can still effectively control the rollback when the roll angle was greater than the static critical roll angle of 9.58%. The proposed control strategy can adapt to the ultimate rollover conditions of different levels of risk and broaden the range of safe driving slope of the tractor. The active rollover control system can provide a theoretical basis and technical support for improving tractor slope adaptability. |
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| Keywords: | tractor control moment gyroscope backstepping active safety anti-rollover control |
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