Simulation analysis and experiment of slope adaptive control system of hilly and mountain tractor
In view of the problems of complex terrain and large tillage resistance fluctuation in hilly and mountainous areas,based on the developed new hilly and mountainous tractor and three-point suspension rear suspension mechanism,an adaptive slope control system was designed.Firstly,the adjustment principle of the posture adjustment mechanism was analyzed,and the functional relationship between the distance between the left and right suspension points and the reference plane of the car body and the ground slope was obtained.Secondly,the electronic control hydraulic system for lateral position and attitude adjustment was designed.The hydraulic system simulation model of lateral position and attitude adjustment system was built by AMEsim,and the control performance of the simulation model was simulated by fuzzy PID control method.Finally,the control test platform of tractor rear suspension system was built,and the lateral posture adjustment test of tractor rear suspension was carried out.The results showed that the rear suspension mechanism had good adjustment effect and good stability when it followed the slope within 15°.According to the simulation results and comparison test,the maximum error of the pose adjustment displacement was 9.32%and the average error was 4.2%.It was proved that the developed slope adaptive control system had high control accuracy and could provide reference for hill and mountain tractor slope adaptive problem.
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