Body Leveling Control Model Establishment and Experiment Analysis

IF 0.8 4区农林科学 Q4 AGRICULTURAL ENGINEERING

Applied Engineering in Agriculture Pub Date : 2022-01-01 DOI:10.13031/aea.14501

Zhongshan Wang, Wenxing Ma, Tongjian Wang, Chongxing Liu

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引用次数: 1

Abstract

Highlights The vehicle body leveling control model based on tire stiffness and wheel centroid displacement is established in this article.The average pitch angle error is 7.94%, and the tilt angle average error is 4.37%.The body leveling control algorithm developed based on this model can be applied to the automatic leveling control of hilly tractors and cars.Abstract. The body leveling control system is the core part of the attitude control of the hilly mountain tractor. It calculates the body posture in real-time according to the body leveling control model and makes corresponding control strategies. The accuracy of the control model directly affects the vehicle leveling accuracy. This article proposes the leveling control model based on tire stiffness and tire mass displacement. The slope road surface excitation information is collected in the field, and the road surface excitation data is processed appropriately. The accurate road surface excitation information is obtained. The input of the simulation model is displacement data. However, the collected road excitation information is the acceleration signal. Thus, the acceleration signal is converted to the displacement signal through the frequency domain integration method. The comparison between the calculated calculation results and the experimentally acquired attitude data indicates that the average pitch angle error is 7.94%, and the average tilt angle error is 4.37%. Accordingly, the vehicle body leveling control model established in this article is compatible with the experimental results and can accurately output the body posture and develop the body tone. Keywords: Control, Hydraulic, Leveling, Pavement, Road

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体平控制模型的建立与实验分析

重点建立了基于轮胎刚度和车轮质心位移的车身调平控制模型。俯仰角平均误差为7.94%，倾斜角平均误差为4.37%。基于该模型开发的车身调平控制算法可应用于丘陵拖拉机和汽车的自动调平控制。车身调平控制系统是丘陵山地拖拉机姿态控制的核心部分。根据人体调平控制模型实时计算人体姿态，并制定相应的控制策略。控制模型的精度直接影响车辆调平精度。提出了基于轮胎刚度和轮胎质量位移的调平控制模型。现场采集斜坡路面激励信息，对路面激励数据进行适当处理。获得了准确的路面激励信息。仿真模型的输入是位移数据。而采集到的道路激励信息就是加速度信号。因此，通过频域积分法将加速度信号转换为位移信号。计算结果与实验获取的姿态数据对比表明，平均俯仰角误差为7.94%，平均俯仰角误差为4.37%。因此，本文建立的车身调平控制模型与实验结果相吻合，能够准确输出车身姿态和发展车身色调。关键词:控制，液压，找平，路面，道路

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Applied Engineering in Agriculture 农林科学-农业工程

CiteScore

1.80

自引率

11.10%

发文量

审稿时长

6 months

期刊介绍： This peer-reviewed journal publishes applications of engineering and technology research that address agricultural, food, and biological systems problems. Submissions must include results of practical experiences, tests, or trials presented in a manner and style that will allow easy adaptation by others; results of reviews or studies of installations or applications with substantially new or significant information not readily available in other refereed publications; or a description of successful methods of techniques of education, outreach, or technology transfer.