Authors

Abstract

This research aimed to address the issue of physical damage caused by long-term work in high-saline fields by electrifying sunflower growing machinery and designing control systems. Firstly, the method of establishing the equation of motion is used to obtain the parameters to carry out motorization modification, and then the control system is built using STM32 as the main controller, which has the functions of control, data acquisition, and alarm. The feasibility and stability of the study are verified by using a model vehicle to conduct tests of straight-line driving and steering in a simulated high-saline field.

Abstract in Chinese

针对目前高盐碱地的播种机对人工依赖程度高导致驾驶员长时间在盐碱地工作受到健康损害的问题，以2BQKS-2型柴油自走式气吸葵花覆膜播种机为原型进行电动化改造及其控制系统的设计。电动化改造从实际工况出发以世界坐标系下的滑移转向运动学和动力学分析为基础建立了运动学方程，根据运动学方程选择合适的电动机、驱动装置等。播种机的控制系统实现了数据采集、行走电机驱动、运动控制和速度监测的功能。开发的遥控平台使工作人员能够远程监控和操作播种机。为了验证控制系统的稳定性，利用模型车辆对控制系统进行了直线偏移误差试验和转向试验。