Authors

Abstract

In order to improve the automation level of the leveling system of crawler tractor, the adaptive leveling control system is designed and studied for the developed leveling device. The overall scheme of the leveling control system is determined. The system hardware is designed and selected, and the control algorithm of the leveling control system is designed by using the proportional algorithm. The designed leveling control system is composed of real-time detection part, control part, driving part and display part. The system can detect and control the tractor inclination angle in real time, and monitor inclination angle and leveling time in real time. The results of the leveling control system performance test are shown: the leveling accuracy and time of lateral slope and longitudinal slope increase with the increase of tractor body inclination angle; The leveling accuracy and stability of longitudinal slope are better than that of lateral slope leveling, and the leveling speed is higher than that of lateral slope leveling; The coordination leveling accuracy is higher than the independent leveling accuracy of lateral slope and longitudinal slope, and the collaborative leveling accuracy of longitudinal slope is obviously better than its independent leveling accuracy; The leveling control system can independently complete the leveling work according to the actual working conditions of the crawler tractor, and the leveling accuracy can reach within 1°, the leveling time is within 0-6s; The leveling accuracy and time can meet the design requirements.

Abstract in Chinese

为了提高履带式拖拉机调平系统的自动化水平,针对开发的调平装置进行了自适应调平控制系统的设计与研究。确定了调平控制系统的整体方案,对系统硬件进行了设计、选型,采用比例算法对调平控制系统的控制算法进行了设计。该系统由实时检测部分、控制部分、驱动部分及显示部分组成,能够对拖拉机作业中车身倾斜角度进行实时检测与自主控制,并对车身倾斜状况和调平时间进行实时监控。调平控制系统性能测试结果表明：该系统在调平作业中横坡、纵坡调平精度及时间均随车身倾角增加而增加,纵坡调平精度及平稳性均好于横坡调平、调平速度高于横坡调平,协同调平中横坡、纵坡调平精度较横坡、纵坡独立调平精度均有所提升,纵坡协同调平精度明显优于其独立调平精度,同时调平控制系统能够根据机具实际作业情况自主完成调平工作,调平精度均能达到1°以内,调平时间在0-6s以内,调平精度及时间均能满足设计要求。