DESIGN AND STUDY ON THE ADAPTIVE LEVELING CONTROL SYSTEM OF THE CRAWLER TRACTOR IN HILLY AND MOUNTAINOUS AREAS
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