履带式马铃薯联合收获机辅助驾驶作业系统设计与试验

Design and Test of Assisted Driving Operation System of Tracked Potato Combine Harvester

摘要:

履带式马铃薯联合收获机转向半径小、通过性强、接地比压低，在马铃薯收获作业中应用越来越广泛。为提高履带式马铃薯联合收获机的智能化水平，降低马铃薯收获过程中的劳动力强度，以洪珠4ULZ-110型履带式马铃薯联合收获机为试验平台，设计履带式马铃薯联合收获机辅助驾驶作业系统，并通过加装电子比例阀实现收获机的转向机构和挖掘机构电-液可控。在航向偏差PD控制器的基础上，增加横向偏差的比例项，并引入行驶速度自适应的控制延时补偿前馈项，设计前馈+反馈复合路径跟踪控制算法。在水泥路面和旱地分别以速度0.55、0.83、1.11m/s进行直线路径跟踪控制试验，并以速度0.55m/s在胶州马铃薯种植地进行了辅助驾驶收获作业。试验结果表明，所设计的马铃薯收获机辅助驾驶作业系统设计功能执行可靠，收获作业过程中最大绝对横向偏差为5.10cm，平均绝对偏差为2.00cm，收获行走过程中具有较好的稳定性和直线路径跟踪精度，满足马铃薯收获机田间作业要求。

Abstract:

The tracked potato combine harvester features a small turning radius, strong passability, and low ground pressure, making it increasingly popular in potato harvesting operations.In order to improve the intelligence level of tracked potato combine harvester and reduce the labor intensity in the process of potato harvest, the Hongzhu 4ULZ-110 model tracked potato combine harvester was used as the experimental platform, an auxiliary driving operation system for tracked potato combine harvester was designed,and electro-hydraulic control of the harvester’s steering mechanism and digging mechanism was achieved by installing electronic proportional valves.Building upon a heading deviation PD controller, a proportional term for lateral deviation was incorporated and a control delay compensation feedforward term adaptive to driving speed was introduced, resulting in a composite feedforward + feedback path tracking control algorithm.Straight-line path tracking control experiments on cement roads and dry land were conducted at speeds of 0.55m/s, 0.83m/s and 1.11m/s, respectively. Additionally, assisted driving harvesting operations were performed at speed of 0.55m/s in the potato planting fields in Jiaozhou. The experimental results demonstrated that the designed auxiliary driving operation system for the potato harvester functions was reliable. The maximum absolute lateral deviation during the harvesting operation was 5.10cm, with an average absolute deviation of 2.00cm, showcasing good stability and straight-line path tracking accuracy during harvesting travel, meeting the requirements for field operations of the potato harvester.