【摘要】 为实现高地隙植保机底盘离地间隙调节和底盘调平控制,以湖南农业大学与宗南重工联合研制的高地隙多功能植保机为平台,设计加装了底盘自动调平系统。系统由STM32主控芯片、倾角传感器、驱动模块、平行四边形升降机构和液压执行机构组成。每个平行四边形升降机构上安装倾角传感器,用于检测底盘的离地间隙;底盘中心位置安装1个水平倾角传感器,用于检测底盘的水平角度。采用Kalman滤波算法处理底盘水平倾角数据,采取基于位置误差控制加角度误差控制的调平控制策略,完成高地隙植保机离地间隙调节和底盘调平的控制。试验证明,滤波算法能有效抑制水平倾角数据的抖动;调平系统能完成植保机离地间隙调节和底盘调平,平均响应时间为0.45 s,静态调平的平均水平误差≤0.25°,最大误差0.45°,均方根误差≤0.27°;动态调平的平均水平误差≤0.64°,最大误差0.81°,均方根误差≤0.34°,满足高地隙植保机作业要求。更多还原

【Abstract】 In order to realize the ground clearance and leveling control of the chassis for the high-gap plant protection machine, a high-gap multi-functional plant protection machine jointly developed by Hunan Agricultural University and Zongnan Heavy Industry was used as a platform to design a chassis automatic leveling system. The system is mainly composed of STM32 main control chip, inclination sensor, drive module, parallelogram lifting mechanism and hydraulic actuator. Each parallelogram lifting mechanism is installed with an inclination sensor, which is used to detect the clearance of chassis from the ground. One horizontal inclination sensor is installed at the center of chassis, which is used to detect the horizontal angle of chassis. Kalman filter algorithm was used to process the dip angle data. Based on the position error control and the angle error control, the leveling control strategy was obtained to achieve the automatic control of the ground clearance and chassis leveling. The test proves that the filtering algorithm can effectively suppress the data jitter; the leveling system can complete the ground clearance adjustment and the chassis leveling; the average response time is 0.45 s, the static average horizontal error is no more than 0.25°, and the maximum error is 0.45°, the root mean square error is no more than0.27°. The dynamic average horizontal error is no more than 0.64°, the maximum error is 0.81°, and the root mean square error is no more than 0.34°. It is shown that the chassis leveling system meets the requirements of the high ground plant protection machine.更多还原