Design And Test Of Automatic Walking Control System For Hydraulic Track Vehicle

Mechanization technology of field management for high-stalk crops such as tobacco and corn is an important subject in agricultural machinery engineering.Realizing the mechanization of field management in the middle and late stage of high-stalk crop is an important content of this paper.At present,the mechanization level of high-stalk crop production in our country is relatively low,the working environment of field management operations of tobacco and corn,such as topping,fertilization,harvesting,is bad.The peasant is inconvenient to enter the field.According to the agronomic requirements of maize and tobacco farm machinery in Henan,this paper designs a fully automatic hydraulic driving track walking control system which can be used in the field operation management of tobacco and maize.The control design and software development of the automatic walking system are completed,and the necessary control experiments are carried out.In this paper,through the field investigation and investigation,the planting pattern of maize and tobacco in Henan Province is understood,and the structural characteristics of the domestic and foreign track field management machinery are consulted,and the automatic walking control system of the fully hydraulic track is designed.The layout and installation of the control system are determined through the analysis of the structure and operation mode of the fully hydraulic gantry frame track,the control method of the automatic walking system is established through the composition of the hydraulic system of the track,the frame structure,the engine,the layout of fuel tank and storage battery is analyzed,the dynamic model of steering is established on the basis of the special steering form of the track vehicle,the distribution of the force in the steering of the tracked vehicle is analyzed,and the solving equation is given.It provides a theoretical basis for the design and selection of the response time of the solenoid valve in the automatic walking system of the track vehicle.According to the above theoretical analysis,combined with the actual working environment of the hydraulic crawler,the tracked vehicle's effects of track slip,hydraulic system and matching tools are analyzed.This paper put forward offset measurement and single chip microcomputer to control the steering,and the overall scheme is designed.1)the automatic walking control system is selected and designed,including the selection of microprocessor,the design of ranging module,solenoid valve driving module,touch rod module and the choice of power supply.2)the software part of the walking control system is designed,including the choice about the software development environment and programming language,the design of the main program of the system and the distance detection subprogram,Solenoid valve drive subroutine and man-machine interaction subprogram.The relationship between the steering angle and the solenoid valve response time in different velocities was tested.The steering angle corresponding to different speed and sensor response time is obtained,and the steering angle is between 10-30 °,which conforms to the design requirements.In the test,the response times and the number out of the range under different speed are tested.The response rate is 90% and above,and the line pressing rate is 5% or less in the normal speed range.This result meets the requirements of automatic running Control system of tracked vehicle.In the automatic walking performance test,the relationship between the response state of the contact rod sensor and the ranging sensor and the movement at different speeds is tested,meanwhile,and the traversability is recorded.The test results show that the "S" bending walking effect is better,the silent rate of distance "n" walking is 10% and less,and the maximum standing rod knock down rate is 13.3%.At the same time,the high precision GNSS equipment,computer,Bluetooth module and so on are used to collect the information of "n" walking track,the track of tracked car is obtained in the end.The hydraulic treadmill walking system with single chip microcomputer as the core has achieved the expected design goal,and it can also carry on the interline control walking.In this paper,the matching range of different speed and sensor response time is found through practical experiments.Based on this,the control strategy of tracked vehicle is established.Finally,the passage test of tracked vehicle is carried out with the optimal matching parameters.The test results show that the design of the automatic control system is reasonable,and the passing effect is good when the track is running.It can be used as a reference for the design of field self-propelled vehicle control system.