丘陵地区剪叉式甘蔗转运车调平控制系统设计与试验

Design and Experiment on Leveling Control System of Scissor Type Sugarcane Transporter in Hilly Area

摘要:

针对丘陵地区甘蔗转运车在田间作业操作难、转运过程易发生侧翻事故等问题，设计了一种剪叉式甘蔗转运车调平控制系统。通过搭建甘蔗转运车试验平台，基于状态测量单元、单片机嵌入式系统、液压系统，实现甘蔗在转运前车身姿态自动调平功能；保持车身状态处于安全范围内，对车厢进行提升、翻转等控制，完成甘蔗转运过程所需动作。为研究影响车身稳定的因素，在试验平台负载质量120kg工况下，分别选取车身侧向角为0°、2°、4°、6°、8°，支撑结构侧向跨距为490、650、730mm的状态参数进行负载作业临界试验。并采用“追逐式”调平策略进行自动调平试验，验证系统平稳控制的可靠性。结果表明:车身侧向角和底盘支撑结构跨距对其稳定性具有显著影响，730mm为支撑结构最佳侧向跨距；支撑结构侧向跨距490mm且车身初始侧向角6°时为危险临界状态，甘蔗转运过程存在较大安全隐患。设计的调平控制系统在20s内调平，精度可达到0.3°；当车身通过调平安全检测后，可在35s内平稳完成车厢提升转运等卸蔗动作，满足60s内完成安全转运卸蔗的设计要求，提高了丘陵地区甘蔗转运车作业的安全性和工作效率。

Abstract:

Aiming at the problems of difficult operation of sugarcane transporter in the hilly area and easy rollover accidents during the transfer process, a leveling control system for the scissor sugarcane transporter was designed. By building a sugarcane transporter test platform, the automatic leveling function of the body attitude was realized before sugarcane transfer based on the state measurement unit, single-chip embedded system, and hydraulic system. The function kept the body state within a safe range, and controlled the lifting and turning of the carriage to complete the actions required for the sugarcane transfer process. In order to study the factors affecting the stability of the car body, a critical operation test was carried out on the test platform with load of 120kg. The state parameters were selected as the lateral angle of the vehicle body as 0°, 2°, 4°, 6° and 8°, and the lateral span of the supporting structure as 490mm, 650mm, and 730mm, respectively. And the automatic leveling test was carried to verify the reliability of the stable control of the system using the “chasing” leveling strategy. The results showed that the lateral angle of the vehicle body and the span of the chassis support structure had a significant impact on its stability, and 730mm was the best lateral span of the support structure;when the lateral span of the supporting structure was 490mm and the initial lateral angle of the body was 6°, it was a critical state, and the sugarcane transportation process had safety risks. The designed system can level the transporter within 20s, and the accuracy can reach 0.3°;when the car body passed the leveling safety test, the vehicle can complete unloading operations such as car lift and transfer within 35s, satisfying the safety transfer and unloading within 60s. The control system improved the safety and work efficiency of sugarcane transporter in hilly areas.