Study On The Self-adaptive Leveling System Of The Tractor Body In Hilly And Mountainous Area

In Hilly and Mountainous Areas,the field road surface fluctuates greatly due to the restriction of the terrain,and agricultural machinery will be affected by the terrain in the operation process,resulting in the low efficiency and serious decline in the operation accuracy of some agricultural machinery.The use of automatic leveling technology can ensure the accuracy and efficiency of the operation and improve the safety of the operation to a certain extent.In this paper,based on the prototype of crawler tractor developed in the early stage of our research group,an automatic leveling system is designed and carried on the crawler tractor,to improve the driving safety and operation stability of the small tractor,and a certain extent,improve the automation level of the tractor.The main research contents are as follows:(1)Based on the previous research,this paper designs an automatic leveling system with the existing tractor prototype.The structure and working principle of the leveling system are studied,and the factors affecting the stability of the tractor in the working process are analyzed.A leveling system suitable for the prototype of the research group is designed,and then the components of the leveling system are designed according to the needs of the leveling system,and the relevant parameters are analyzed.The leveling system designed in this paper can achieve high efficiency and high precision leveling,and can meet the actual work needs.(2)The design of leveling actuator of leveling system is completed.In this paper,the factors that affect the safety of the tractor in the process of working are analyzed,and a leveling scheme is designed based on the analysis and the research of the existing scholars,which is supported by three points and positioned by plane at the same time.(3)The control system of the leveling system is designed.Combined with the characteristics of the actuator,the control system can realize the automatic leveling function as the starting point.The dual axis inclination sensor is used as the acquisition component of the inclination signal,and the PLC controller is used as the processing core.On this basis,the control core circuit,angle signal acquisition circuit,display circuit,Servo motor and electric cylinder drive circuit are designed.The structure,workflow and working principle of each part of the control system are studied in detail.The structure,workflow and working principle of each part of the control system are studied in detail.(4)After the completion of the design of each part of the leveling system,the prototype of the leveling system is made and the leveling system of the small crawler tractor in the hilly and mountainous area is tested.The experimental results show that the leveling system can meet the needs of the use and meet the requirements of the design objectives.At the same time,through the experiment,the optimal frequency conversion parameters of the leveling system in the process of leveling are servo motor: 700,servo motor cylinder: 1200.In this case,the static leveling time under the designed maximum angle is 1.876 s and 1.905 s respectively.At the same time,the field experiment of the leveling system is completed,and the accuracy of the leveling system can reach within 1°.At the same time,due to the influence of the vibration and noise of the body itself,the leveling time will increase by 0 ～ 2.5s when the tractor is working.