CAJ | 학술논문

为了满足复杂农林环境下植保作业需求，提出了一种纯液压驱动力的植保农药喷雾机柔性底盘系统；针对底盘四轮驱动所采用的阀控马达非线性控制系统，建立状态方程，采用李亚普诺夫理论进行了系统稳定性分析，采用蒙特卡洛模拟法进行了系统可靠性预测及优化。结果表明：该液压控制系统是稳定的，其可靠性较高，优化后的系统可靠度均值为0．89，平均无故障工作时间预测值为8526 h，远高于底盘1 a内实际工作时间2160 h；采用AMESim软件对该液压控制系统进行了建模和仿真，并与样机实验结果进行了对比，当PID控制器参数KP＝0．5、KI＝4、KD＝0时，系统稳定性较高，响应迅速，2．5 s后达到稳定状态。车轮加速度响应曲线有小幅波动，振荡次数在2次以内；负载干扰力矩从1 Nm增大到20 Nm时，马达转速输出曲线几乎重合。研究结果表明阀控液压马达动力系统鲁棒性好，其稳定性和可靠性可满足底盘需求。
위료만족복잡농림배경하식보작업수구，제출료일충순액압구동력적식보농약분무궤유성저반계통；침대저반사륜구동소채용적벌공마체비선성공제계통，건립상태방정，채용리아보낙부이론진행료계통은정성분석，채용몽특잡락모의법진행료계통가고성예측급우화。결과표명：해액압공제계통시은정적，기가고성교고，우화후적계통가고도균치위0．89，평균무고장공작시간예측치위8526 h，원고우저반1 a내실제공작시간2160 h；채용AMESim연건대해액압공제계통진행료건모화방진，병여양궤실험결과진행료대비，당PID공제기삼수KP＝0．5、KI＝4、KD＝0시，계통은정성교고，향응신속，2．5 s후체도은정상태。차륜가속도향응곡선유소폭파동，진탕차수재2차이내；부재간우력구종1 Nm증대도20 Nm시，마체전속수출곡선궤호중합。연구결과표명벌공액압마체동력계통로봉성호，기은정성화가고성가만족저반수구。
A flexible chassis system with full hydraulic driving was put forward in order to meet the demand of plant pro?tection practice under the complex agricultural and forestry environments. For the nonlinear hydraulic control system of the four?wheel driven chassis through valve?controlled hydraulic motors, the state equation of the system was established. The system stability was analyzed with Lyapunov theory, and the Monte Carlo simulation method was used for system re?liability prediction and optimization. Results showed that the hydraulic control system was stable and the reliability was high. The mean reliability value was 0. 89 after optimization and the forecast value of the mean time before failure was 8 526 h, which was far above the work time of 2 160 h within a year for the chassis. The AMESim software was used for modeling and simulating the hydraulic control system and the results were compared with prototype experiment results. The results showed the system stability was high when PID controller parameters was set as KP=0.5,KI=4,KD=0. At the above conditions, system response was quick and system reached stable state after 2. 5 seconds. There were slight fluctuations in the wheel acceleration response curve. But the oscillation frequency was within 2 times. The output curves of motor speed were almost overlapped when load disturbance torque was increased from 1 Nm to 20 Nm. This demonstra?ted that the robustness of hydraulic system was good and its reliability and stability met the chassis demand.