电动拖拉机犁耕机组阻力自适应作业控制研究
Resistance-adaptive Operation Control of Electric Tractor Plowing Unit
王琪 1王旭东 1王威 1张硕 1崔永杰2
作者信息
- 1. 西北农林科技大学 机械与电子工程学院,陕西 杨凌 712100
- 2. 西北农林科技大学 机械与电子工程学院,陕西 杨凌 712100;陕西省农业信息感知与智能服务重点实验室,陕西 杨凌 712100;农业农村部 农业物联网重点实验室,陕西 杨凌 712100
- 折叠
摘要
犁耕质量和效率对粮食高产至关重要,而以往基于悬挂高度调整以适应阻力变化来控制犁耕机组耕作效率存在耕深不均匀的问题.为此,以重心可调电动拖拉机犁耕机组为对象,提出了调定耕深下考虑速度和滑转率的阻力自适应作业控制方法.首先,建立了机组动力学模型并分析了阻力变化下机组的动态特性;然后,采用模糊神经网络控制算法调节驱动电机转矩和电池组位移,使牵引附着性能自动适应阻力变化,以实现速度和滑转率的联合控制;最后,进行了实车测试平台搭建和犁耕试验.结果表明:耕速最大偏差仅为 0.48 km/h,相比于控制前滑转率降低了 21.42%,牵引效率提高了 7.76%.在恒定耕深下机组作业稳定性和效率得以提高,为电动拖拉机的自动化和智能化精准作业提供了技术支持.
Abstract
Efficient and high-quality plowing operation is essential for high food yields.The current slip rate control method by the hitch height adjustment causes uneven tillage depth.Therefore,a resistance-adaptive operation control method considering the speed and slip rate was proposed for an electric tractor plowing unit with adjustable center of the gravity.First,the unit dynamic model was established,and the interaction between the speed,slip rate,traction efficien-cy,inter-axle load and adhesion was revealed.Then,by using the fuzzy neural network algorithm,the driving torque and battery displacement were regulated to adapt the traction adhesion performance to the drag variation,allowing joint control of the speed and slip rate.Finally,the unit control test platform was built and the plowing experiment was carried out.The results showed that the maximum tillage speed deviation was only 0.48 km/h,the average slip rate was decreased by 21.42%,compared with those without control,and the traction efficiency was increased by 7.76%,which improved the operational stability and efficiency at a constant tillage depth and provided technical support for the automatic and intelli-gent precision operation of electric tractors.
关键词
电动拖拉机/犁耕作业/自适应控制/牵引效率Key words
electric tractor/plowing/adaptive control/traction efficiency引用本文复制引用
出版年
2025
国家科技期刊平台
NSTL
万方数据