摘要
为了使遥操作拖拉机驾驶员对路面信息有更直观的感受,在课题组前期设计的一套拖拉机遥操作系统的基础上设计了路感模拟系统。首先提出路感模拟系统的总体设计方案。然后分析拖拉机路感产生机理,并对遥操作拖拉机的转向执行机构以及控制器进行改造,设计出路感测试系统。最后根据所设计的路感测试系统,在草地、水泥地等路面上对遥操作拖拉机进行原地转向以及行驶转向时不同速度下的转向阻力矩测量,并且利用Logitech G29方向盘式操纵装置在草地和水泥路面展开路感的模拟实验。实验及测试结果表明,遥操作拖拉机在不同路面的转向阻力矩相差较大,但是总体变化趋势相同,一开始转向阻力矩随着方向盘转角的增大而增大并在方向盘转角处于100°~120°时开始回落,当方向盘转角处于200°左右时有小幅度的上升。通过方向盘式操纵装置对遥操作拖拉机路感展开模拟,各项评价指标得分均在6.3~8.5分之间,表明该方法模拟路感的可行性。
To make the teleoperated tractor driver have more intuitive feeling of the road information,road feel simulation system was designed on the basis of the teleoperation system for tractors that was designed before.By referring to the research ideas of road feel in the steer-by-wire system and combining sensor measurement method and parameter fitting method,the road sense was tested and simulated on the platform of teleoperated tractor.First of all,the overall design scheme of road feel simulation system was proposed.Then,through the analysis of the mechanism of tractor road feel,and the transformation of the steering actuator and controller of the teleoperation tractor,the road feel test system was designed.Finally,according to the road feel test system,the steering resistance torque of teleoperated tractor was measured on the grass and cement roads at different speeds,and the simulation test of road feel was carried out on the grass and cement roads by using the Logitech steering wheel.The test results showed that the steering torque of teleoperated tractor on different roads varied greatly,but the overall trend was the same.At first,the steering torque was increased with the increase of the angle,and it began to fall when the steering wheel angle was between 100°and 120°and rose slightly when the steering wheel angle was about 200°.The road feel of teleoperation tractor was simulated by the G29 steering wheel of Logitech,and the score of evaluation indexes were between 6.3 and 8.5,which showed that the simulated road feel satisfied the driver.
作者
薛金林
曹梓建
李雨晴
XUE Jinlin;CAO Zijian;LI Yuqing(College of Engineering, Nanjing Agricultural University, Nanjing 210031, China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2022年第3期432-439,共8页
Transactions of the Chinese Society for Agricultural Machinery
基金
江苏省科技计划项目(BK20151436)。
关键词
拖拉机
遥操作
路感模拟
转向系统
tractor
teleoperation
road feel simulation
steering system
