果园升降平台调平机构建模与仿真.docVIP

果园升降平台调平机构建模与仿真 杨径 陆华忠 李君 曾细强 华南农业大学工程学院 华南农业大学南方农业机械与装备关键技术教育部重点实验室 X 关注成功！ 加关注后您将方便地在 我的关注中得到本文献的被引频次变化的通知！ 新浪微博 腾讯微博 人人网 开心网 豆瓣网 网易微博 摘????要： 为实现对果园升降平台的自动调平控制, 设计了一种基于平面连杆双向主动调节的液压调平机构, 提出了平台角度调平的控制策略, 构建了液压调平机构运行控制的数学模型, 并采用虚拟样机技术建立了联合仿真控制模型。调平试验结果表明:模型在平台角度、供油压力、液压缸位移和速度的响应基本一致, 说明构建的数学模型能够准确描述调平机构的参数变化;机构调平控制过程中, 角度跟踪误差小于0.5°, 能够满足坡度角在2 0°以内的作业稳定性要求。 关键词： 调平; 虚拟样机; 液压系统; 数学模型; 果园; 作者简介：杨径 (1990-) , 男, 广东湛江人, 硕士研究生, (E-mail) zjyj90821@163.com。 作者简介：李君 (1978-) , 男, 湖南祁阳人, 教授, (E-mail) autojun-li@。 收稿日期：2017-03-01 基金：广东省岭南水果产业技术体系创新团队建设项目 (2016LM1107) Modeling and Simulation of Orchard Self-leveling Mechanism Yang Jing Lu Huazhong Li Jun Zeng Xiqiang College of Engineering, South China Agricultural University; Abstract： To realize the automatic leveling control for orchard lifting platform, a hydraulic leveling mechanism based on planar linkage with two-way active regulation function was developed. The leveling control strategy of platform angle and mathematical control model of hydraulic leveling mechanism were proposed. The virtual prototype technology was used to obtain the co-simulation control model. The leveling test results showed that the dynamic responses of platform angle, oil pressure, displacement and velocity of hydraulic cylinder of the mathematical control model are coincident well with the co-simulation control model. It is proved that the mathematical control model can accurately describe the variation of working parameters of the leveling mechanism. During the leveling control process, the tracking errors of angle were less than 0. 5°, which confirmed that the proposed leveling mechanism can meet requirements of operation stability under the condition of slope angle within 20°. Keyword： leveling; virtual prototype; hydraulic system; mathematical model; orchard; Received： 2017-03-01 0 引言 果园升降平台主要用于水果生产过程中的多功能管理作业。南方丘陵山区果园坡度较大, 升降平台在坡地作业易失稳, 存在安全隐患。英国N.P.SEY-MOUR公司的Windegger Picking Platforms和美国UpRight公司的SL26SL采用折叠臂结构升降机, 在底部转台