电驱无人农用动力装备设计与试验

Design and Experiment of Electric Unmanned Agricultural Power Equipment

摘要:

针对目前农用轮式动力装备适应性差、运动不灵活、环境友好性不足等问题，面向设施园艺农业生产中的播种、中耕、植保、运输等环节作业需求，提出了一种具有铰接式车架和独立四轮驱动与转向轮组的多模式驱动控制转向无人农用动力装备。动力装备总体结构包括铰接式车架、独立驱动转向轮组、中置悬挂装置和电控系统，具备两轮转向、四轮转向、原地转向和蟹行转向等多种转向模式。对驱动电机、转向电机、PTO电机、动力电池等动力系统关键部件进行了匹配计算。分析了农用动力装备在多种转向模式下的动力学特性，建立了多模式动力学模型。机电控制系统采用分层式驱动控制方法，并以行驶速度、转向性能、爬坡性能、耕深稳定性和续航性能作为评价指标，开展了多组田间试验。试验结果表明，农用动力装备行驶速度均值为9.67km/h，四轮阿克曼转向最小转向半径为1715.5mm，最大爬坡度为15°，耕深稳定性系数为94.62％，续航时间为2.18~2.77h，具备良好转向特性、可通过性及作业稳定性，可为高端中小型智能农机装备设计提供理论基础和技术支撑。

Abstract:

Aiming at the problems of poor terrain adaptability, inflexible movement and insufficient environmental friendliness of the current power equipment, a four-wheel multi-mode steering electric unmanned agricultural power equipment with an articulated frame and an independently driven steering wheel set was proposed to meet the operational needs of sowing, tillage, plant protection, transportation and other links in facility horticultural agricultural production. Firstly, the overall structure of the power equipment consisted of an articulated frame, an independently driven steering wheel set, a central suspension device and an electronic control system. It supported multiple steering modes, including two-wheel steering, four-wheel steering, on-the-spot steering and crab steering. Next, matching calculations were performed on key components of the power system, such as the drive motor, steering motor, PTO motor, and power battery. Subsequently, the dynamic motion characteristics of the agricultural power equipment under various steering modes were analyzed, and a multi-mode dynamic model was established. Finally, a hierarchical drive control method was applied in the mechatronic control system, and multiple field tests were carried out with driving speed, steering performance, climbing performance, stability of tillage depth, and endurance performance as evaluation indices. The test results showed that the equipment achieved an average driving speed of 9.67km/h, the minimum turning radius of 1715.5mm under four-wheel Ackerman steering, the maximum climbing grade was 15°, the coefficient of the tillage depth stability was 94.62％, and the battery runtime was 2.18~2.77h. The equipment demonstrated excellent steering characteristics, passability, and operational stability, providing theoretical and technical support for the design of advanced small- and medium-sized intelligent agricultural machinery equipment.