Authors

Abstract

According to the operation characteristics of high clearance self-propelled sprayer, an independent vertical shaft air suspension system with auxiliary chamber was designed. On the basis of the damping characteristic analysis and experiment of the air suspension with auxiliary chamber, the sprayer suspension control strategy was developed. Aiming at strong non-linearity and hysteresis for air suspension with auxiliary chamber, and when the sprayer performed road transportation and spraying operation, there was a contradiction between ride comfort and road friendliness, a hybrid sliding mode control method for sprayer chassis suspension based on skyhook reference sliding mode and ground-hook reference sliding mode was proposed. Finally, Matlab/Simulink was used to analyse the effect of the control method in different mixing coefficients. The simulation results showed that according to the requirements of different working conditions of the sprayer, by properly selecting the mixing coefficient γ value, the hybrid sliding mode control could simultaneously take into account the sprayer ride comfort and road friendliness, which was important to improve the sprayer overall performance and operating efficiency.

Abstract in Chinese

针对喷雾机特殊的作业特点和要求，设计了一种带附加气室的独立式立轴空气悬架系统，并在前期对带附加气室空气悬架阻尼特性分析与实验的基础上，制定了喷雾机悬架的基本控制策略。然后针对带附加气室空气悬架具有较强非线性和滞后性，且喷雾机道路转场运输和喷雾作业时，存在行驶平顺性和道路友好性之间矛盾的问题，提出了一种基于天棚参考滑模和地棚参考滑模的悬架混合滑模控制方法。最后应用Matlab/Simulink对不同混合系数下的控制效果进行了分析。仿真结果表明，根据喷雾机不同工况要求，合理地选择γ值，混合滑模控制可以同时兼顾喷雾机行驶平顺性和道路友好性，对提高喷雾机整机性能和作业效率具有重要意义。