CAJ | 학술논문

为研究谷物联合收割机视觉导航系统中电控全液压转向系统的操纵性能，该文介绍了联合收割机视觉导航系统结构，在建立了电控全液压转向系统各组成部分的数学模型基础上，构建了系统的仿真模型，并进行了Simulink 仿真。仿真结果表明：联合收割机的侧向速度和横摆角速度的稳态值与实车试验结果一致，横摆角速度稳态值约为-12.5°/s，侧向速度稳态值约为-0.25 m/s，二者的稳态误差小于5%；在信号瞬态响应过程中，仿真与实车试验的过渡时间相同，约为1.8 s，仿真试验的侧向速度及横摆角度的响应速度皆快于实车试验结果，但二者总体变化趋势相同。所建立的系统模型准确、可靠，较好地反映了联合收割机转向时动静态特性，为联合收割机视觉导航转向控制器设计提供参考依据。
위연구곡물연합수할궤시각도항계통중전공전액압전향계통적조종성능，해문개소료연합수할궤시각도항계통결구，재건립료전공전액압전향계통각조성부분적수학모형기출상，구건료계통적방진모형，병진행료Simulink 방진。방진결과표명：연합수할궤적측향속도화횡파각속도적은태치여실차시험결과일치，횡파각속도은태치약위-12.5°/s，측향속도은태치약위-0.25 m/s，이자적은태오차소우5%；재신호순태향응과정중，방진여실차시험적과도시간상동，약위1.8 s，방진시험적측향속도급횡파각도적향응속도개쾌우실차시험결과，단이자총체변화추세상동。소건립적계통모형준학、가고，교호지반영료연합수할궤전향시동정태특성，위연합수할궤시각도항전향공제기설계제공삼고의거。
In recent years, combine harvester navigation system based on machine vision had important significance in improving the harvesting efficiency of combine harvester, reducing the labor intensity of the driver and so on. In order to realize the automatic steering control of the combine operation path, it is necessary to reconstruct the original hydraulic steering system of combine harvester. To analyze the steering performance of the modified electronically controlled hydraulic steering system for combine harvester in visual navigation system, mathematical models of the electronically controlled hydraulic steering system were established after introducing the structure of combine harvester visual navigation system. The system was mainly composed of combine harvester body, full hydraulic steering, steering transmission mechanism and hybrid stepping motor. In this paper, the mathematical models of the parts were established respectively. The steering model of combine harvester was firstly simplified to linear 2-DOF rear wheel steering vehicle model, and the basic handling dynamics model of combine harvester was established. Then, the dynamic mathematical model of simplified hydraulic steering system was given in the analysis of the fully hydraulic steering work principle for combine harvester. And then, the static model of the steering transmission mechanism was established according to its geometrical structures. Finally, the stepping motor model was simplified as an inertial system according to the step response performance, and its transfer function was given. The electronically controlled hydraulic steering system was simulated through the joint simulation method of each mathematical model by Simulink software. In order to verify the correctness of simulation models, the dynamic response characteristics of steering system was tested with the steering wheel angle step input of 90° on Xinjiang 2A combine harvester. In the real vehicle test, vehicle yaw rate was obtained by the vertical gyroscope, the lateral velocity signal was calculated according to the lateral acceleration of vehicle and the steering wheel angle signal by comprehensive estimation method. The comparative analysis of the simulation and real vehicle test showed that:Combine lateral velocity and yaw rate of the steady-state value was consistent with the real vehicle tests, and the output of lateral velocity was about-0.25 m/s, the output of yaw rate was about-12.5°/s, and the steady-state error is less than 5%. In the signal transient response, the transition time of simulation and real vehicle test were the same, which was about 1.8 s. The lateral velocity and yaw angle response speed of simulation was faster than the real vehicle test results, but the overall trend was the same. Therefore, the conclusion can be drawn that the established system models are accurate and reliable; And its consider not only the static mechanical characteristics of the electronically controlled hydraulic steering system, but also the rear wheel steering handling dynamics characteristics of combine harvester, full hydraulic steering dynamic characteristics and dynamic response performance of the stepping motor. The results reflect the dynamic and static characteristics of the electronically controlled hydraulic steering system for combine harvester visual navigation system, and provide a theoretical basis for the controller design of combine harvester visual navigation system and the realization of visual navigation system.