Steering Performance Test System For Small Remote-controlled Tracked Tractor Design And Test

The southwest hilly area is suitable for the development of small crawler-type agricultural implements due to complex terrain,high height difference,small field size and soil weight.The excellent crawler-type agricultural implements not only have good performance when working in various fields.Moreover,there must be stable steering performance.The track steering performance mainly includes steering angular speed,minimum steering radius,and engine load growth.In this paper,the small-track crawler tractor is modified by remote control system.Based on this,the prototype is tested and the self-steering test system is used as the tool.The steering performance of the remote-controlled crawler tractor is studied,from linear performance to steering radius.A comparative systematic study on steering cycle,steering power consumption,etc.,yielded the following findings:?1?Establish a feasible remote control system structure plan.Demonstrate the feasibility of the scheme,design,draw all prototype drawings,rebuild the prototype,and test the prototype.The test shows that the remote control system is safe and reliable,its control range can reach 1500 meters,and the steering test sensitivity is 0.5s/40°,which meets the requirements put forward by the project.?2?Establish the mathematical model of the tracked vehicle steering,taking into account the factors affecting the steering power consumption of the large-radius steering and small-radius steering of the tracked vehicle,the ground friction coefficient f,the driving speed of the driving wheels V₁?V₂,the locomotive mass G,steering resistance coefficient?,track structure parameters L/B and other factors related.?3?Complete the design of the steering performance test system.Taking 52 MCU as the core,and the proximity sensor,three-axis magnetic group sensor,1602 liquid crystal display and other components to form the hardware structure of the steering performance test system,combined with the development of the software program,the design of the steering performance test system is completed,and the steering angular velocity is realized.Real-time measurement and display of drive wheel speed and steering radius on the left and right sides of the track.Tests show that the steering performance test system has an accuracy of 0.928 and can be used as the test of this project.?4?In the field,the steering performance test was carried out on the crawler tractor.The measured maximum driving distances are 0.43m,0.94m,0.87m,and the average yaw rate is 0.72%,which is within the national standard range;the minimum steering radius is0.043m;the minimum steering period is 15.85s.Based on the steering power,the single-factor and full-factor tests of the crawler tractor were carried out.After the variance analysis,the three factors of the steering power consumption were significantly affected:steering speed V,locomotive mass G,steering radius R,steering.The quadratic regression equation for power is:P_w=6861.4-247.06R+269.75V+200.81G+59RV+69.88RG-34VG-38.14R²-224.76V²-105.14G²When the steering radius R is 0.9 m,the steering speed V is 1.2 m/s,and the locomotive mass is 600 Kg,the power consumed by the steering is the smallest.