CN117963025A - Four-wheel independent steering and active leveling chassis suitable for hilly and mountain lands - Google Patents
Four-wheel independent steering and active leveling chassis suitable for hilly and mountain lands Download PDFInfo
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Abstract
The invention discloses a four-wheel independent steering and active leveling chassis suitable for hilly and mountain lands, which comprises a chassis frame, a travelling mechanism, a steering mechanism and a leveling mechanism, wherein the chassis frame is provided with a steering mechanism; the travelling mechanism, the steering mechanism and the leveling mechanism are all provided with a plurality of groups; the steering mechanism is arranged above the travelling mechanism, and the leveling mechanism is arranged above the steering mechanism; the steering mechanism comprises a steering driving mechanism, a fixed end of the steering driving mechanism is connected with the steering mechanism, and a driving end of the steering driving mechanism is connected with the travelling mechanism; the leveling mechanism comprises a fixed frame, a telescopic driving mechanism and an inclination sensor for detecting an inclination angle; the telescopic frame is connected to the upper end of the fixing frame through a vertical sliding structure; the chassis frame is fixedly connected with the telescopic frame. The invention not only can automatically level, but also can independently turn, is flexible, is beneficial to coping with the hilly and mountain working environment with large gradient and high fluctuation, and can effectively improve the working safety.
Description
Technical Field
The invention relates to an agricultural machine, in particular to a four-wheel independent steering and active leveling chassis suitable for hilly and mountain lands.
Background
The hilly and mountain land is taken as an important component of agriculture in China, has the characteristics of large area, complex terrain, steep topography, dispersed land and the like, and when the conventional agricultural machine is used for the operation of the hilly and mountain land, the risk that the vehicle body is easy to incline and difficult to turn exists, so that the operation of the agricultural machine is greatly limited, and the agricultural mechanization of the hilly and mountain land is seriously lagged. The mechanical chassis is an important component of agricultural machinery and is a technical bottleneck for agricultural mechanical development in hilly and mountainous areas.
The invention application with the application publication number of CN113184070A discloses an agricultural machinery leveling chassis and agricultural machinery suitable for hilly and mountain lands, and the agricultural machinery leveling chassis comprises a frame, a crawler mechanism driving the frame to move, a steering mechanism driving the frame to steer and a leveling mechanism for realizing the leveling of the frame, wherein a hinge mechanism is connected between the frame and one end of the leveling mechanism, the steering mechanism is connected between adjacent leveling mechanisms, and the other end of the leveling mechanism is rotationally connected with the crawler mechanism.
The leveling chassis can keep the vehicle body in a horizontal state at the high-low fluctuation hilly mountain, has certain climbing capacity and steering capacity, but adopts four-wheel differential steering, has poor running stability and difficult steering under the high-gradient high fluctuation hilly mountain working environment, and has the advantages that the relative positions of front wheels and rear wheels and the vehicle body can be changed when the front and rear leveling cylinders are matched with the vehicle body in the telescopic process of the posture of the vehicle body in the running process of the leveling structure, so that the wheel track of the front and rear wheels is changed, and the safety hidden danger of skidding or even tipping exists while the operation standstill is influenced.
Disclosure of Invention
The invention aims to solve the problems, and provides the four-wheel independent steering and active leveling chassis which is applicable to hilly and mountain areas, not only can automatically level but also can independently steer, is flexible, is beneficial to dealing with the hilly and mountain area working environment with large gradient and high fluctuation, and can effectively improve the working safety.
The aim of the invention is achieved by the following technical scheme:
a four-wheel independent steering and active leveling chassis suitable for hilly and mountain lands comprises a chassis frame, a traveling mechanism, a steering mechanism and a leveling mechanism;
The travelling mechanism, the steering mechanism and the leveling mechanism are all provided with a plurality of groups; the steering mechanism is arranged above the travelling mechanism, and the leveling mechanism is arranged above the steering mechanism;
The steering mechanism comprises a steering driving mechanism, a fixed end of the steering driving mechanism is connected with the steering mechanism, and a driving end of the steering driving mechanism is connected with the travelling mechanism through an intermediate support frame;
The leveling mechanism comprises a fixed frame, a telescopic driving mechanism and an inclination sensor for detecting an inclination angle; the telescopic frame is connected to the upper end of the fixing frame through a vertical sliding structure, the fixed end of the telescopic driving mechanism is arranged on the fixing frame, and the driving end of the telescopic driving mechanism is connected with the telescopic frame; the chassis frame is fixedly connected with the telescopic frame.
The working principle of the four-wheel independent steering and active leveling chassis applicable to hilly and mountain areas is as follows:
When the harvester works, the travelling mechanism carries out travelling driving, meanwhile, the angle data of the harvester is detected in real time through the inclination angle sensor, the detection data are sent to the controller, and the controller analyzes the state of the vehicle body; when the user encounters rugged topography or ascending and descending slopes, the detection data can correspondingly change, and the controller analyzes the detection data and calculates a leveling instruction which comprises an ascending or descending height; the controller controls the corresponding telescopic driving mechanism to carry out telescopic driving according to the leveling instruction, so that the corresponding telescopic frame ascends or descends relative to the fixed frame, and the chassis frame is lifted to a specified height or lowered to a specified height, and leveling is achieved.
When turning or turning around is needed, the driving end of the rotation driving mechanism drives the middle supporting frame to swing, and the middle supporting frame drives the whole running mechanism below to rotate, so that turning radius is reduced, the steering device is more flexible, and the steering device is suitable for smaller pavement.
According to the invention, the walking mechanism comprises a walking installation frame, a track assembly and a walking driving mechanism, wherein the track assembly is connected with the walking installation frame, the fixed end of the walking driving mechanism is fixedly arranged on the walking installation frame, and the driving end of the walking driving mechanism is connected with the track assembly.
In a preferred embodiment of the present invention, the steering driving mechanism includes a steering mounting seat, a steering driving motor and a steering transmission assembly; the steering mounting seat is fixedly connected with the fixing frame; the steering driving motor is fixedly arranged on the steering mounting seat; the steering transmission assembly comprises a transmission gear structure and a bearing, wherein the transmission gear structure is connected between an output shaft of the steering driving motor and the bearing, and the bearing is fixedly connected with the middle supporting frame.
In a preferred embodiment of the present invention, the top of the intermediate support frame is fixedly connected with the steering driving mechanism, and the bottom of the intermediate support frame is rotatably connected with the travelling mechanism. Therefore, when the vehicle is in an ascending slope or a descending slope, the middle support frame and the travelling mechanism can rotate relatively, and at the moment, the middle support frame is matched with the leveling mechanism to always keep the vehicle body in a vertical downward posture, so that the normal operation of the agricultural machinery land in hilly and mountainous areas is facilitated.
According to the invention, the fixing frame adopts a box beam structure, so that the torsion resistance of the telescopic driving mechanism of the agricultural mechanical chassis during independent steering can be enhanced, and the service life of the telescopic driving mechanism can be prolonged.
According to a preferred scheme of the invention, the telescopic driving mechanism comprises an electric push rod, the fixed end of the electric push rod is fixedly connected to the fixed frame, and the telescopic rod of the electric push rod is connected with the telescopic frame.
In a preferred embodiment of the present invention, the tilt sensor is disposed at a center position of the chassis frame; as a signal acquisition device, the three-axis Euler angle and the three-axis acceleration can be acquired simultaneously, and the body posture can be detected in real time.
According to a preferred scheme of the invention, the leveling mechanism further comprises a linear anti-self-interference controller based on the BP neural network PD controller, and the linear anti-self-interference controller adopts a central point motionless leveling method to realize automatic leveling.
Further, the center point motionless leveling method includes:
calculating the position difference between the center point of the chassis and the supporting points of the four groups of leveling mechanisms according to the inclination angle signals fed back by the inclination angle sensor and the wheelbase data of the travelling mechanism;
The corresponding telescopic driving mechanisms are controlled by the controller to enable the positions of all supporting points to be the same as the center point of the chassis, so that the horizontal state is achieved:
the coordinates of the supporting points of the four groups of leveling mechanisms are as follows: The coordinates of the center point are (0, 0).
The position difference value of the supporting points of the four groups of leveling mechanisms is as follows: And the X and the Y are the wheelbase of the chassis along the Y axis and the wheelbase of the chassis along the X axis respectively.
Further, according to the position difference value of the supporting points of the four groups of leveling mechanisms, the controller substitutes each data into the linear anti-interference controller, and after judgment, the linear anti-interference controller outputs the travelling distance of the telescopic driving mechanism of each group of leveling mechanisms until the working plane reaches a horizontal state, so that the self-adaptive leveling control is completed.
Further, the first-order tracking differential controller (TD) mainly adopts a differentiator to reasonably transition an input signal of the system so as to quickly obtain a discretized differential signal, thereby relieving the problem of system overshoot which is easy to cause in quick response:
A Linear Extended State Observer (LESO) which links the larc parameters with the frequencies of the controller and the observer, the LESO estimates in real time the total disturbance consisting of the existing internal unmodeled dynamics and the external uncertain disturbance, converts the parameter tuning problem into a bandwidth adjusting problem, and meanwhile, the value of the observer bandwidth affects the observation precision of the linear extended state observer, and the value is in direct proportion to the observation precision and the noise signal: β01＝3ω0，/>
The BP neural network PD controller (BP-PD) is easy to receive ground interference in the leveling process, and the BP neural network PD controller is adopted to adjust the controller parameter k p、kd in real time and is used for compensating the controller parameter deviation and tracking error caused by disturbance, simplifying the parameter setting process and enhancing the disturbance resistance performance of the controller: kd＝2ωc；
Wherein r is an adjustable parameter, the tracking speed of the differential controller is determined, z z1、z22 is a given value transition signal, e is a given value of motor rotation speed, beta is observer gain, omega 0 is observer bandwidth, y is an output signal of the system, k p、kd is proportional and differential gain, omega c is controller bandwidth, and b 0 is system high-frequency gain.
Compared with the prior art, the invention has the following beneficial effects:
1. the four-wheel independent steering and active leveling chassis can adjust the vehicle body to be in a horizontal state in real time by arranging the leveling mechanism, and the trafficability and adaptability of agricultural machinery in hilly areas are improved.
2. Through independently setting up multiunit steering mechanism, when needs turn or turn around, drive end through rotation actuating mechanism drives intermediate strut frame and swings, drives whole running gear of below by intermediate strut frame and rotate, is favorable to reducing turning radius, and is more nimble, is favorable to coping with the hilly mountain region operation environment of heavy grade, high fluctuation, can effectively improve the operation security.
Drawings
Fig. 1 is a schematic perspective view of a four-wheel independent steering and active leveling chassis suitable for hilly and mountain areas.
Fig. 2 is a side view of a four-wheel independent steering and active leveling chassis of the present invention suitable for hilly and mountainous areas.
Fig. 3 is a schematic perspective view of the walking mechanism, steering mechanism and leveling mechanism of the present invention.
Figure 4 is a flow chart of the operation of the leveling mechanism of the present invention.
Fig. 5 is a schematic diagram of signal processing of a linear anti-self-interference controller based on a BP neural network PD controller of the leveling mechanism of the present invention.
Detailed Description
In order that those skilled in the art will well understand the technical solutions of the present invention, the following describes the present invention further with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1-2, the four-wheel independent steering and active leveling chassis suitable for hilly and mountain areas of the embodiment comprises a chassis frame 1, a travelling mechanism, a steering mechanism and a leveling mechanism; the travelling mechanism, the steering mechanism and the leveling mechanism are all provided with a plurality of groups; the steering mechanism is arranged above the travelling mechanism, and the leveling mechanism is arranged above the steering mechanism.
Referring to fig. 1-3, the travelling mechanism comprises a travelling mounting frame 2, a track assembly 3 and a travelling driving motor 4, wherein the track assembly 3 is connected with the travelling mounting frame 2, the fixed end of the travelling driving motor 4 is fixedly arranged on the travelling mounting frame 2, and the driving end of the travelling driving motor 4 is connected with the track assembly 3 through a transmission structure.
Referring to fig. 1-3, the steering mechanism comprises a steering driving mechanism, wherein the fixed end of the steering driving mechanism is connected with the steering mechanism, and the driving end of the steering driving mechanism is connected with a travelling mechanism through an intermediate support frame 5; the steering driving mechanism comprises a steering mounting seat 6, a steering driving motor 7 and a steering transmission assembly; the steering mounting seat 6 is fixedly connected with the leveling mechanism; the steering driving motor 7 is fixedly arranged on the steering mounting seat 6; the steering transmission assembly comprises a transmission gear structure and a bearing, wherein the transmission gear structure is connected between an output shaft of the steering driving motor 7 and the bearing, and the bearing is fixedly connected with the middle supporting frame 5.
Referring to fig. 1-3, the top of the middle support frame 5 is fixedly connected with the steering driving mechanism, and the bottom of the middle support frame 5 is rotatably connected with the travelling mechanism. Therefore, when the vehicle goes up or down, the middle support frame 5 can rotate relative to the travelling mechanism, and at the moment, the middle support frame 5 is matched with the leveling mechanism to always keep the vehicle body in a vertical downward posture, so that the normal operation of the agricultural machinery land in hilly and mountainous areas is facilitated.
Referring to fig. 1-3, the leveling mechanism comprises a fixed frame 8, a telescopic frame 9, a telescopic driving mechanism and an inclination sensor 10 for detecting an inclination angle; the telescopic frame 9 is connected to the upper end of the fixed frame 8 through a vertical sliding structure, the fixed end of the telescopic driving mechanism is arranged on the fixed frame 8, and the driving end of the telescopic driving mechanism is connected with the telescopic frame 9; the chassis frame 1 is fixedly connected with the telescopic frame 9.
Referring to fig. 1-3, the fixing frame 8 adopts a box beam structure, so that the torsion resistance of the telescopic driving mechanism of the agricultural machine chassis during independent steering can be enhanced, and the service life of the telescopic driving mechanism can be prolonged.
Referring to fig. 3, the telescopic driving mechanism includes an electric push rod 11, a fixed end of the electric push rod 11 is fixedly connected to the fixing frame 8, and a telescopic rod of the electric push rod 11 is connected to the telescopic frame 9.
Referring to fig. 1-2, the tilt sensor 10 is disposed at a central position of the chassis frame 1; as a signal acquisition device, the three-axis Euler angle and the three-axis acceleration can be acquired simultaneously, and the body posture can be detected in real time.
Referring to fig. 4-5, the leveling mechanism further comprises a linear anti-interference controller based on a BP neural network PD controller, and the linear anti-interference controller adopts a central point motionless leveling method to realize automatic leveling; the center point motionless leveling method comprises the following steps:
and calculating the position difference between the center point of the chassis and the supporting points of the four groups of leveling mechanisms according to the inclination angle signals fed back by the inclination angle sensor 10 and the wheel base data of the travelling mechanism.
The corresponding telescopic driving mechanisms are controlled by the controller to enable the positions of all supporting points to be the same as the center point of the chassis, so that the horizontal state is achieved:
the coordinates of the supporting points of the four groups of leveling mechanisms are as follows: The coordinates of the center point are (0, 0).
The position difference value of the supporting points of the four groups of leveling mechanisms is as follows: And the X and the Y are the wheelbase of the chassis along the Y axis and the wheelbase of the chassis along the X axis respectively.
Referring to fig. 4-5, according to the position difference values of the supporting points of the four groups of leveling mechanisms, the controller substitutes each data into the linear anti-interference controller, and after judgment, the linear anti-interference controller outputs the travelling distance of the telescopic driving mechanism of each group of leveling mechanisms until the working plane reaches a horizontal state, so as to complete the self-adaptive leveling control.
Referring to fig. 4-5, a first order tracking derivative controller (TD) mainly uses a differentiator to reasonably transition the input signal of the system to quickly obtain a discretized derivative signal, thereby alleviating the problem of system overshoot that is easily caused during quick response:
A Linear Extended State Observer (LESO) which links the larc parameters with the frequencies of the controller and the observer, the LESO estimates in real time the total disturbance consisting of the existing internal unmodeled dynamics and the external uncertain disturbance, converts the parameter tuning problem into a bandwidth adjusting problem, and meanwhile, the value of the observer bandwidth affects the observation precision of the linear extended state observer, and the value is in direct proportion to the observation precision and the noise signal: β01＝3ω0，/>
The BP neural network PD controller (BP-PD) is easy to receive ground interference in the leveling process, and the BP neural network PD controller is adopted to adjust the controller parameter k p、kd in real time and is used for compensating the controller parameter deviation and tracking error caused by disturbance, simplifying the parameter setting process and enhancing the disturbance resistance performance of the controller: kd＝2ωc。
Wherein r is an adjustable parameter, the tracking speed of the differential controller is determined, z21 and z22 are given values of transition signals, e is given value of motor rotation speed, beta is observer gain, omega 0 is observer bandwidth, y is output signal of the system, k p、kd is proportional and differential gain respectively, omega c is controller bandwidth, and b 0 is system high-frequency gain.
Referring to fig. 1-3, the working principle of the four-wheel independent steering and active leveling chassis applicable to hilly and mountain areas in the embodiment is as follows:
when the harvester works, the travelling mechanism carries out travelling driving, meanwhile, the angle data of the harvester is detected in real time through the inclination sensor 10, the detection data are sent to the controller, and the controller analyzes the state of the vehicle body; when the user encounters rugged topography or ascending and descending slopes, the detection data can correspondingly change, and the controller analyzes the detection data and calculates a leveling instruction which comprises an ascending or descending height; the controller controls the corresponding telescopic driving mechanism to carry out telescopic driving according to the leveling instruction, so that the corresponding telescopic frame 9 is lifted or lowered relative to the fixed frame 8, and the chassis frame 1 is lifted or lowered by a specified height, thereby realizing leveling.
When turning or turning around is needed, the driving end of the rotation driving mechanism drives the middle supporting frame 5 to swing, and the middle supporting frame 5 drives the whole running mechanism below to rotate, so that turning radius is reduced, the device is more flexible, and the device is applicable to smaller road surfaces.
The foregoing is illustrative of the present invention, and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The four-wheel independent steering and active leveling chassis suitable for hilly and mountain lands is characterized by comprising a chassis frame, a traveling mechanism, a steering mechanism and a leveling mechanism;
The travelling mechanism, the steering mechanism and the leveling mechanism are all provided with a plurality of groups; the steering mechanism is arranged above the travelling mechanism, and the leveling mechanism is arranged above the steering mechanism;
The steering mechanism comprises a steering driving mechanism, a fixed end of the steering driving mechanism is connected with the steering mechanism, and a driving end of the steering driving mechanism is connected with the travelling mechanism through an intermediate support frame;
The leveling mechanism comprises a fixed frame, a telescopic driving mechanism and an inclination sensor for detecting an inclination angle; the telescopic frame is connected to the upper end of the fixing frame through a vertical sliding structure, the fixed end of the telescopic driving mechanism is arranged on the fixing frame, and the driving end of the telescopic driving mechanism is connected with the telescopic frame; the chassis frame is fixedly connected with the telescopic frame.
2. The four-wheel independent steering and active leveling chassis suitable for hilly and mountain areas according to claim 1, wherein the travelling mechanism comprises a travelling mounting frame, a track assembly and a travelling driving mechanism, the track assembly is connected with the travelling mounting frame, the fixed end of the travelling driving mechanism is fixedly arranged on the travelling mounting frame, and the driving end of the travelling driving mechanism is connected with the track assembly.
3. The four-wheel independent steering and active leveling chassis for hilly and mountain areas of claim 1, wherein the steering drive mechanism comprises a steering mount, a steering drive motor and a steering transmission assembly; the steering mounting seat is fixedly connected with the fixing frame; the steering driving motor is fixedly arranged on the steering mounting seat; the steering transmission assembly comprises a transmission gear structure and a bearing, wherein the transmission gear structure is connected between an output shaft of the steering driving motor and the bearing, and the bearing is fixedly connected with the middle supporting frame.
4. The four-wheel independent steering and active leveling chassis suitable for hilly and mountain areas according to claim 1, wherein the top of the middle support frame is fixedly connected with a steering driving mechanism, and the bottom of the middle support frame is rotatably connected with a travelling mechanism.
5. The four-wheel independent steering and active leveling chassis suitable for hilly and mountain areas according to claim 1, wherein the fixing frame adopts a box beam structure.
6. The four-wheel independent steering and active leveling chassis suitable for hilly and mountain areas according to claim 1, wherein the telescopic driving mechanism comprises an electric push rod, a fixed end of the electric push rod is fixedly connected to a fixed frame, and a telescopic rod of the electric push rod is connected with a telescopic frame.
7. The four-wheel independent steering and active leveling chassis suitable for hilly and mountain areas according to claim 1, wherein the tilt sensor is arranged at the center of the chassis frame; the inclination sensor is used as a signal acquisition device, and simultaneously acquires the three-axis Euler angle and the three-axis acceleration, and detects the posture of the vehicle body in real time.
8. The four-wheel independent steering and active leveling chassis suitable for hilly and mountain areas according to claim 1, wherein the leveling mechanism further comprises a linear anti-self-interference controller based on a BP neural network PD controller, and the linear anti-self-interference controller adopts a central point motionless leveling method to realize automatic leveling;
The center point motionless leveling method comprises the following steps:
calculating the position difference between the center point of the chassis and the supporting points of the four groups of leveling mechanisms according to the inclination angle signals fed back by the inclination angle sensor and the wheelbase data of the travelling mechanism;
The corresponding telescopic driving mechanisms are controlled by the controller to enable the positions of all supporting points to be the same as the center point of the chassis, so that the horizontal state is achieved:
the coordinates of the supporting points of the four groups of leveling mechanisms are as follows: The coordinates of the center point are (0, 0);
the position difference value of the supporting points of the four groups of leveling mechanisms is as follows: And the X and the Y are the wheelbase of the chassis along the Y axis and the wheelbase of the chassis along the X axis respectively.
9. The four-wheel independent steering and active leveling chassis suitable for hilly and mountain lands according to claim 8, wherein the controller substitutes each data into the linear anti-self-interference controller according to the position difference value of the supporting points of the four groups of leveling mechanisms, and the linear anti-self-interference controller outputs the travelling distance of the telescopic driving mechanism of each group of leveling mechanisms until the working plane reaches a horizontal state after judging, so as to complete the self-adaptive leveling control.
10. The four-wheel independent steering and active leveling chassis suitable for hilly and mountain areas according to claim 9, wherein the first-order tracking differential controller uses a differentiator to transition the input signal to obtain a discretized differential signal, thereby alleviating the problem of system overshoot caused by rapid response:
The linear expansion state observer is used for linking the LADRC parameters with frequencies of the controller and the observer, the LESO is used for estimating the total disturbance formed by the existing internal unmodeled dynamic and external uncertain disturbance in real time, the parameter setting problem is converted into the bandwidth adjusting problem, meanwhile, the value of the observer bandwidth can influence the observation precision of the linear expansion state observer, and the value is in direct proportion to the observation precision and the noise signal: β01＝3ω0，
And in the leveling process, the BP neural network PD controller is adopted to adjust the controller parameter k p、kd in real time and is used for compensating the tracking error caused by the parameter deviation and disturbance of the controller, simplifying the parameter setting process and enhancing the disturbance resistance performance of the controller: kd＝2ωc；
Wherein r is an adjustable parameter, the tracking speed of the differential controller is determined, z 21、z22 is a given value transition signal, e is a given value of motor rotation speed, beta is observer gain, omega 0 is observer bandwidth, y is an output signal of the system, k p、kd is proportional and differential gain, omega 0 is controller bandwidth, and b 0 is system high-frequency gain.
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| CN202410281680.2A CN117963025A (en) | 2024-03-12 | 2024-03-12 | Four-wheel independent steering and active leveling chassis suitable for hilly and mountain lands |
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| CN202410281680.2A CN117963025A (en) | 2024-03-12 | 2024-03-12 | Four-wheel independent steering and active leveling chassis suitable for hilly and mountain lands |
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