园艺林下作业电动多功能平台设计与试验

Design and Performance Test of Electric Multifunctional Platform for Horticultural Under-canopy Operations

摘要:

针对适宜果园园艺林下作业的动力机械适应性差、功能单一、污染排放的问题,本文设计了一台用于林下作业,集割草、喷药和运输于一体的电动多功能作业平台。 首先,基于果园冠层低矮、地形崎岖环境的农艺要求与约束条件,进行了平台总体布局与性能指标设计,对电池、电机、底盘、作业部件和控制系统开展了参数化设计。 然后,以爬坡角度、续航时间和制造成本为核心目标,考虑了滑转率、接地比压、质心纵坐标等多重约束,建立了多目标优化数学模型,并采用 NSGA-Ⅱ优化算法进行求解,确定了平台电池容量、电机功率关键参数的最优匹配方案。 最后,对样机进行直线行驶、最小转弯半径、割草性能等基本性能试验。 试验结果表明,所设计的多功能作业平台直线行驶 100 m 平均跑偏量为 1. 453 m,原地转弯半径为 656 mm,能够通过 20% 坡(约 11. 3°)和 30% 坡(约 16. 7°)爬坡测试、驻坡制动和坡道转向试验,满足设施园艺行间地头良好的通过性要求;当割草机转速为 2 000 r / min 时, 留茬高度、漏割率等作业指标满足作业需求,续航时间为 5. 8 h。 研究结果表明,所设计的电动平台在满足林下复杂环境作业需求的同时,实现了零排放、低噪声、多功能集成与性能优化,为林下作业机械的绿色化、智能化发展提供了思路与技术参考。

Abstract:

Aiming to address the problems of poor adaptability, single functionality, and polluting emissions in power machinery suitable for orchard and horticultural understory operations, an electric multifunctional operation platform for under-canopy operations that integrated mowing, spraying, and transportation was designed. Firstly, based on the agronomic requirements and constraints of low-canopy orchards and rugged terrain environments, the overall layout and performance indicators of the platform were planned, and parametric designs were conducted for the battery, motor, chassis, operational components, and control system. Then, with climbing angle, endurance time, and cost as core objectives, and considering multiple constraints such as slip rate, ground pressure, and longitudinal coordinate of the center of mass, a multi-objective optimization mathematical model was established. The NSGA-Ⅱ optimization algorithm was employed to solve the model, determining the optimal matching scheme for key parameters, including platform battery capacity and motor power. Finally, basic performance tests were conducted on the prototype, including minimum turning radius, mowing performance, and spraying performance. The test results showed that the designed multifunctional operation platform had an average deviation of 1. 453 m in a 100-meter straight-line driving test, an on- site turning radius of 656 mm, and passed climbing tests on 20% (approximately 11. 3°)and 30% (approximately 16. 7°)slopes, as well as slope parking brake and slope steering tests, meeting the navigability requirements for facility horticulture inter-row and headland operations. When the mower operated at 2 000 r / min, performance indicators such as stubble height and missed cutting rate met operational requirements, with an endurance time of 5. 8 h. The research results demonstrated that the designed electric platform not only met the operational demands of complex understory environments but also achieved zero emissions, low noise, multifunctional integration, and performance optimization. It can provide ideas and technical references for the green and intelligent development of understory operation machinery.