开发和评估4WSS电动驱动底盘,用于高清除喷雾器
Siwei He1, Yue Shen1, Yafei Zhang1
1School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China.
Frontiers in plant science
|October 16, 2023
概括
一个新的四轮自动驾驶 (4WSS) 电动底盘克服了泥的野外挑战. 这种智能喷雾机设计为复杂的农业地形提供了更好的机动性和更低的扭矩.
科学领域:
- 农业工程 农业工程
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
背景情况:
- 传统的高空径喷雾器由于高扭矩负荷和卡住而在泥的田野中扎.
- 智能喷机需要增强的机动性,以在复杂的农业地形上进行导航.
研究的目的:
- 为智能喷涂机器开发先进的电动驱动底盘.
- 为了提高机动性和降低扭矩负载在具有挑战性的现场条件下.
主要方法:
- 一个四轮自动驾驶 (4WSS) 底盘被设计使用两个定制的方向桥和四个内轮驱动电机.
- 为速度关系开发了一种运动模型,并实施了一种速度分布控制器 (SDC).
- 通过驱动电机的协调差速控制实现了同时的转向和前进运动.
主要成果:
- 4WSS底盘展示了有效的速度和转向角度跟踪.
- 与传统底盘相比,实现了相当小的转半径2877毫米.
- 在泥地形,深沟和山脊中验证了优越的性能.
结论:
- 4WSS电动底盘为智能喷雾机提供了增强的通行性和机动性.
- 减少扭矩要求和更小的转向半径改善了复杂农业环境中的操作.
- 开发的系统有效地解决了在具有挑战性的地形中传统农业底盘的局限性.
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