Design And Research On Anti-slip Control Of Self-propelled Sprayer Driving System

Self-propelled boom sprayer is a large-load ground agricultural equipment.It is the master of plant protection machinery.It can be used in large-area,high-efficiency and precise plant protection operations for almost all economic crops,especially high-stalk crops.At present,China's self-propelled boom sprayer mainly depends on imports.The domestic sprayer market is dominated by knapsack and small and medium sprayers.The drive system has a decisive influence on the performance of the sprayer.Anti-skid control directly affects the sprayer's operating efficiency,driving stability and safety.Therefore,this paper studies the related technologies and methods of anti-skid control of self-propelled boom sprayer.The specific content of the paper includes:1.Analyze the reason and the slip characteristics of the sprayer and the judgment method.The slip of the sprayer is divided into two types: differential speed and differential force.Establish the kinematics theoretical model of four-wheel machine tools in straight,two-wheel steering and four-wheel steering.Analyze the slip force of the drive wheels.A formula for calculating the slip ratio of the driving wheel is proposed to calculate the ideal slip ratio of 0.05.2.Based on the related theories of fluid mechanics,mathematical models such as RTM diverting and collecting valves and electric proportional control valves based on boundary conditions are established.Mathematical model of anti-skid control based on hydraulic drive system and MATLAB / Simulink simulation model based on sprayer drive system were established.Simulated analysis of its characteristics.3.According to the requirements and operation characteristics of the anti-skid control of the driving system of the self-propelled boom sprayer,the topology and module are divided.Use PID control and fuzzy control to design anti-skid control strategy respectively.In MATLAB / Simulink,the simulation test was conducted and the anti-skid control strategy was formulated and the anti-skid control hardware in the laboratory stage and the anti-skid control system on the test platform were built.4.After the anti-skid control system is installed and the anti-skid control of the drive system is turned on,the pressure test of the hydraulic system and the integrated test of the electrical system are carried out.It is analyzed that the anti-skid control slip rate is 0.078 and 0.028 when the machine is moving at low speed;the mean slip rate is 0.109 and 0.031 when the anti-skid control is not turned on when the machine is moving at medium speed;the slip rate is 0.031 when the machine is moving at high speed When the anti-skid control is not turned on,the average slip rate is 0.110,and when the anti-skid control is turned on,the slip rate is 0.035.