【摘要】 针对高地隙自走式喷雾机大型化易导致转向不便、易碾压作物等问题，设计了一种可实现四轮转向与蟹行的全液压负载敏感型多轮转向控制系统。其中前轮转向液压缸无杆腔串联，并接入可自行补油或卸油的补偿油路，后轮各转向液压缸独立运动，以满足不同转向模式下的阿克曼转向特性。建立了转向液压系统数学模型、转向系统控制模型和Matlab/Simulink仿真模型，并搭建了实车试验平台。在四轮转向补偿控制对比试验中，开启补偿控制后前轮最大阿克曼转角偏差为1.87°,关闭后则达6.08°。在蟹行模式下，自动控制试验中前轮最大转角偏差为2.09°,后轮为2.71°。在补偿控制情况下，前后轮转角偏差均小于阈值3°。试验结果表明，所设计转向控制系统可实现四轮转向和蟹行行驶，满足不同转向模式下的阿克曼转向特性，提高了大型自走式喷雾机在复杂工况下的转向灵活性。更多还原

【Abstract】 In response to the inconvenience and crop trampling issues caused by the large-scale of high clearance self-propelled sprayer, a full hydraulic load-sensitive steering control system that can achieve four-wheel steering and crab steering was designed. In this system, the rodless chambers of the front wheel steering hydraulic cylinders were connected in series and connected to a compensation oil circuit that can replenish or unload oil automatically. Each rear wheel steering hydraulic cylinder operated independently. Such a design met the Ackermann steering characteristics under different steering modes. Mathematical models of the steering hydraulic system, steering system control models and Matlab/Simulink simulation models were established, and a real vehicle test platform was constructed. In the comparative experiments of four-wheel steering compensation control, the maximum Ackermann steering angle deviation of the front wheels was 1.87° with compensation control activated, whereas it reached 6.08° when deactivated. In crab steering mode, during automatic control experiments, the maximum steering angle deviation of the front wheels was 2.09°, and for the rear wheels, it was 2.71°. With compensation control intervention, the steering angle deviation of both front and rear wheels was less than the 3° threshold. Experimental results demonstrated that the designed steering control system can achieve four-wheel steering and crab steering, meeting the Ackermann steering principles under different steering modes and improving the maneuverability of high clearance self-propelled sprayers in complex operating conditions.更多还原