Authors

Abstract

The cultivated land in hilly and mountainous areas of China accounts for a high proportion. However, the complex terrain makes it extremely difficult for traditional agricultural machinery to operate. There is a high risk of rollover, and the operation effect is not satisfactory. Achieving agricultural mechanization in these areas faces huge challenges. This study is dedicated to designing a four-wheel adaptive chassis suitable for hilly and mountainous areas to solve the stability problem of agricultural machinery during operation. The research adopts the leveling strategy of tracking the lowest fixed point plane in the four-point leveling method. By constructing the chassis coordinate system and analyzing the coordinate transformation matrix, the motion relationships of each support point are determined, and precise leveling is achieved based on this. In the system design, the hydraulic system is crucial. According to the preset vehicle parameters, various parameters of the hydraulic cylinder are accurately calculated, and a suitable gear pump is selected to ensure stable operation under different working conditions. The control system calculates the height errors of each point based on the body tilt angle data collected by the biaxial sensor, and then controls the action of the hydraulic valve to achieve automatic leveling of the chassis. The MATLAB/Simulink platform is used to simulate different tilt angle conditions, verifying the effectiveness of the control system. The experimental results show that the chassis can achieve rapid leveling within the range of -12° to 12° in the transverse direction and -8° to 8° in the longitudinal direction, and the leveling time is within two seconds. The leveling process is stable, without shaking and insufficient stroke problems. This indicates that the leveling strategy and system design of the chassis are reasonable and effective, which can significantly improve the stability and safety of agricultural machinery during operation in hilly and mountainous areas, providing important technical support for promoting agricultural mechanization in hilly and mountainous areas.

Abstract in Chinese

中国丘陵山区耕地占比高，但地形复杂致使传统农机作业困难重重，翻车风险大且作业效果不佳，实现农业机械化面临巨大挑战。本研究致力于设计一种适用于丘陵山区的四轮自适应底盘，以解决农机作业的稳定性问题。 研究采用四点调平中的最低点不动面追逐调平策略，通过构建底盘坐标系和分析坐标变换矩阵，确定各支撑点的运动关系，以此为基础实现精准调平。在系统设计上，液压系统是关键，根据预设的车辆参数，精确计算液压缸的各项参数，选用合适的齿轮泵，确保在不同作业工况下都能稳定运行。控制系统依据双轴传感器采集的车身倾斜角度数据，计算各点高度误差，进而控制液压阀动作，实现底盘自动调平。利用 MATLAB/Simulink 平台对不同倾斜角度工况进行仿真，验证了控制系统的有效性。实验结果显示，该底盘在横向 -12°至 12°、纵向 -8° 至 8° 范围内可实现快速调平，且调平时间在两秒以内，调平过程平稳，无晃动和行程不足问题。这表明底盘的调平策略和系统设计合理有效，能显著提升农机在丘陵山区作业的稳定性和安全性，为推动丘陵山区农业机械化发展提供了重要技术支持。