CN-121990045-A - Paddy field light chassis space six-link steering trapezoidal control system and method based on kingpin inclination angle

CN121990045ACN 121990045 ACN121990045 ACN 121990045ACN-121990045-A

Abstract

The invention relates to a paddy field light chassis space six-bar steering trapezoid control system and a method based on a kingpin inclination angle, wherein the system comprises a paddy field light chassis and a control system, wherein the paddy field light chassis is used for mounting paddy field farm implements; the space six-bar steering trapezoid is arranged below the front end of the paddy field light chassis and used for steering the paddy field light chassis, the electronic gyroscope is arranged in front of the space six-bar steering trapezoid and used for measuring kingpin inclination angle data and internal and external steering wheel angle data, the vehicle-mounted embedded microcontroller is arranged on the paddy field light chassis and is respectively connected with a steering wheel and the electronic gyroscope which are arranged on the paddy field light chassis and used for calculating the angle of rotation according to the kingpin inclination angle data and steering wheel steering input data acquired in real time and a steering trapezoid two-dimensional kinematic control model after receiving a steering command, so that steering actions are implemented by transmitting the angle of rotation to the space six-bar steering trapezoid, sideslip phenomenon in paddy field operation is effectively restrained, and the operation precision of agricultural machinery is ensured.

Inventors

JIA WEIQING
GUO ZIYOU
WANG ZAIMAN
ZHANG MINGHUA
FAN ZUNCHENG
XU YIMING
XU SHENJIE
Li Zhengrou

Assignees

华南农业大学

Dates

Publication Date: 20260508
Application Date: 20260128

Claims (10)

1. A kingpin tilt angle based paddy field light chassis space six-bar steering trapezoidal control system, characterized in that the system comprises: The light chassis for paddy field is used for mounting paddy field farm tools; the space six-link steering trapezoid is arranged below the front end of the paddy field light chassis and is used for steering the paddy field light chassis; The electronic gyroscope is arranged in front of the space six-bar steering trapezoid and is used for measuring kingpin inclination angle data and inner and outer steering wheel corner data; The vehicle-mounted embedded microcontroller is arranged on the paddy field light chassis, is respectively connected with a steering wheel arranged on the paddy field light chassis and the electronic gyroscope, and is used for carrying out numerical calculation according to the king pin inclination angle data and the steering wheel steering input data acquired in real time after receiving a steering command of the steering wheel and a steering trapezoid two-dimensional kinematic control model to obtain the angle of rotation, so as to send the angle of rotation to a space six-link steering trapezoid to carry out steering action.
2. The caster angle based paddy field light chassis space six-bar steering ladder control system of claim 1, wherein the space six-bar steering ladder is a disconnected space connection mechanism comprising: One end of the main pin is fixed on the paddy field light chassis, and the other end of the main pin is connected with the steering knuckle arm, and the main pin is used as a rotating shaft of the steering knuckle arm to enable the steering wheel to flexibly steer around the steering wheel, bear vertical load transmitted by the axle and transmit braking force and lateral force to the paddy field light chassis; The steering knuckle arm is connected with the steering wheel and the steering tie rod and is used for receiving the steering moment and driving the steering wheel to deflect; the steering tie rod is a rigid rod piece and is used for transmitting the torque output by the steering machine to the steering butterfly disk; the steering butterfly disk is connected with the steering wheel and the steering tie rod and used for transmitting the received moment to the knuckle arm; the steering wheel is used for running longitudinally and generating lateral force by interacting with the ground during steering, so as to realize chassis steering.
3. The caster angle based paddy field light chassis space six-bar steering ladder control system of claim 2, wherein the knuckle arm is provided with an elongated mounting plate.
4. A caster angle based paddy field lightweight chassis space six bar steering trapezoidal control system according to claim 3 wherein said electronic gyroscopes are mounted on said elongated mounting plate and lie in planes on the knuckle arm planes for measuring caster angle, caster angle data and actual inside and outside steering wheel angle data of the caster.
5. A kingpin tilt angle based paddy field light chassis space six-bar steering trapezoidal control method, characterized in that the method is implemented according to the kingpin tilt angle based paddy field light chassis space six-bar steering trapezoidal control system of any one of claims 1-4, the method comprising the steps of: S1, measuring the roll angle and the back angle data of a kingpin by using an electronic gyroscope; s2, taking steering input data of a steering wheel and discrete sequences of measured roll angle and caster angle data of a kingpin as inputs, and inputting the discrete sequences into a steering trapezoidal two-dimensional kinematics control model for numerical calculation to obtain the turning angles of an inner steering wheel and an outer steering wheel; and S3, steering the trapezoid by using the space six-bar linkage according to the calculated rotation angle value.
6. The method for controlling the steering trapezium of the light chassis space six-bar based on the caster angle in the paddy field according to claim 5, wherein the step S3 includes the steps of establishing a steering trapezium two-dimensional kinematic control steering evaluation model, calculating the weighted deviation value of the inner and outer steering wheel angle relation and the inner and outer steering wheel angle relation of the ackerman theory as an evaluation index, constructing the steering trapezium two-dimensional kinematic control steering evaluation model according to the weighted deviation value, and constructing a steering evaluation objective function corresponding to the steering trapezium two-dimensional kinematic control steering evaluation model, so as to evaluate the steering effect for inhibiting the wheel sideslip phenomenon.
7. The paddy field light chassis space six-bar steering trapezoid control method based on the king pin inclination angle, which is characterized in that the building step of the steering trapezoid two-dimensional kinematics control steering evaluation model is as follows: S31, calculating corresponding inner and outer steering angle values of an Ackerman theory according to a steering input value of a steering wheel, then calculating relative errors between the inner and outer steering wheel angles, which are obtained by measuring by an electronic gyroscope and actually implementing steering actions, and the inner and outer steering angle values of the Ackerman theory, and multiplying the obtained relative errors with preset weighting function values to obtain deviation contribution values corresponding to the inner and outer steering wheel angles; and S32, adding and processing the deviation contribution values corresponding to all the obtained inner steering wheel corners and the obtained outer steering wheel corners, thereby constructing a steering trapezoidal two-dimensional kinematic control steering evaluation model.
8. The caster angle-based paddy field light chassis space six-bar steering trapezoidal control method of claim 7, wherein the steering evaluation objective function formula is: Wherein, the Is the angle value of the inner steering wheel and the outer steering wheel; the integral value of the turning angles of the inner steering wheel and the outer steering wheel at the limit position; Is based on steering trapezoid two-dimensional kinematics control model Calculating the angle value of the inner steering wheel and the outer steering wheel; is based on an Ackerman ideal model Calculating the ideal internal and external steering wheel angle values; Is a preset weighting function value based on the inner and outer steering wheel angles.
9. The method for controlling the steering trapezium of the space six-bar in the paddy field light chassis based on the caster angle according to claim 8, wherein in the step S3, the method further comprises optimizing the steering trapezium two-dimensional kinematically controlled steering evaluation model by using an intermittent internal and external iteration method to obtain a global optimal solution, thereby obtaining the final angle value of the internal and external steering wheels, and finally correcting the steering action of the space six-bar steering trapezium according to the final angle value.
10. The method for controlling the steering trapezium of the paddy field light chassis space with six connecting rods based on the caster angle according to claim 9, wherein the step of optimizing the steering trapezium two-dimensional kinematic control steering evaluation model by adopting the intermittent internal and external iteration method to obtain the global optimal solution is as follows: S01, randomly generating a group of current solutions in a solution space determined by constraint conditions, wherein the current solutions are used as starting points of global searching; S02, calculating an objective function value corresponding to the current solution, and taking the objective function value as a current optimal objective function value; S03, constructing a new solution along the randomly generated unit vector direction in a larger neighborhood range of the current solution; s04, calculating an objective function value corresponding to the new solution as a new objective function value; S05, in the judgment of inner layer iteration, calculating the difference value between the new objective function value and the current optimal objective function value, namely, if the new objective function value is better, namely, the difference value is smaller than zero, receiving the new solution as the current solution, and updating the current optimal objective function value; S06, repeatedly executing S03 to S05 until the upper limit of the inner layer iteration times is reached; And S07, the outer layer iteration is responsible for searching the fineness degree, namely reducing the neighborhood range of the current solution, and repeatedly executing S03 to S06 on the basis until the convergence condition is met or the upper limit of the outer layer loop iteration number is reached, and finally outputting the global optimal solution to obtain the final rotation angle value of the inner steering wheel and the outer steering wheel.

Description

Paddy field light chassis space six-link steering trapezoidal control system and method based on kingpin inclination angle Technical Field The invention relates to the technical field of agricultural machinery equipment, in particular to a paddy field light chassis space six-link steering trapezoid control system and a method based on a kingpin inclination angle. Background The mechanization of paddy field soil operation takes a significant role in agricultural modernization in China, and the paddy field light chassis is a walking mechanical platform for paddy field operation, which greatly reduces the grounding pressure through light design and unique rigid wheels, and realizes easy walking and high-efficiency operation in paddy fields. The light chassis is mainly used for mounting paddy field farm tools, such as a high-speed rice transplanter, a precise paddy planter and the like. However, as the paddy field ground presents obvious layering phenomena including a water layer, a slurry layer, a cultivation layer, a hard bottom layer and a raw soil layer, the characteristic of the light power chassis which is displayed in the paddy field ground walking process is greatly different from the characteristic of a common automobile which runs on a road, the foremost is sagging and sideslip, and the sideslip phenomenon can reduce the steering performance of the light power chassis, aggravate the abrasion of wheels and further influence the operation quality of paddy field agricultural machinery and the service life of the chassis. The sideslip phenomenon is mainly caused by the deviation between the inner and outer steering wheel angle relation and the Ackerman ideal angle relation, so that the wheels and the ground slide relatively. The defect of the control performance of the light chassis steering trapezium in the paddy field at present is expressed in that the roll angle and the caster angle of the steering trapezium are not considered. In order to enhance the ability of the chassis to travel straight and the portability of the steering manoeuvre, therefore, in the design of the steering trapezium the kingpin is usually not perpendicular to the ground, but rather there is a certain caster and camber. But the roll angle and the caster angle of the steering trapezoid are not considered in the current steering trapezoid modeling for the sake of convenience in calculation. The model precision is provided with an uncertain factor, so that the deviation between a calculation result and an Ackerman ideal corner relation is large, and the sideslip problem of the chassis in the steering process is aggravated. Therefore, in order to ensure safe, stable and efficient work of paddy field agricultural machinery equipment, the invention provides a paddy field light chassis space six-link steering trapezoidal control system and a method based on a kingpin inclination angle, which solve the sideslip problem of the paddy field light chassis. Disclosure of Invention The invention aims to overcome at least one defect (deficiency) of the prior art, and provides a paddy field light chassis space six-bar steering trapezoid control system and a method based on a kingpin inclination angle, which are used for the sideslip problem of a paddy field light chassis. The technical scheme adopted by the invention is a paddy field light chassis space six-link steering trapezoidal control system based on a kingpin inclination angle, which comprises: The light chassis for paddy field is used for mounting paddy field farm tools; the space six-link steering trapezoid is arranged below the front end of the paddy field light chassis and is used for steering the paddy field light chassis; The electronic gyroscope is arranged in front of the space six-bar steering trapezoid and is used for measuring kingpin inclination angle data and inner and outer steering wheel corner data; The vehicle-mounted embedded microcontroller is arranged on the paddy field light chassis, is respectively connected with a steering wheel arranged on the paddy field light chassis and the electronic gyroscope, and is used for carrying out numerical calculation according to the king pin inclination angle data and the steering wheel steering input data acquired in real time after receiving a steering command of the steering wheel and a steering trapezoid two-dimensional kinematic control model to obtain the angle of rotation, so as to send the angle of rotation to a space six-link steering trapezoid to carry out steering action. The system uses a paddy field light chassis as a carrier, stably mounts farm implements such as a high-speed paddy rice transplanter, a precision hill planter and the like, ensures the operation suitability, simultaneously adapts to the low ground pressure requirement of the paddy field by means of a space six-link steering trapezoid, promotes the trafficability of soft terrains, accurately collects kingpin dip angle data and inner and outer wheel angle