CN103048148A - Semi-physical simulation test platform of high-power tractor electro-hydraulic suspension system - Google Patents
Semi-physical simulation test platform of high-power tractor electro-hydraulic suspension system Download PDFInfo
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- CN103048148A CN103048148A CN2013100202780A CN201310020278A CN103048148A CN 103048148 A CN103048148 A CN 103048148A CN 2013100202780 A CN2013100202780 A CN 2013100202780A CN 201310020278 A CN201310020278 A CN 201310020278A CN 103048148 A CN103048148 A CN 103048148A
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Abstract
The invention discloses a semi-physical simulation test platform of a high-power tractor electro-hydraulic suspension system and belongs to the field of performance test of a high-power tractor. A simulation test system comprises an entity part and a virtual part which are connected with each other through an interface part to form a semi-physical simulation test system for the high-power tractor and a suspension agricultural machinery part. Working parameters of the entity part are input into a computer through an interface board card to be used by a model; output parameters of the model are output to the entity part through the interface board card; and therefore, a closed loop test system is formed. A lifting valve and a controller which are related in the invention are subjected to real-time simulation, test, evaluation and improvement; and the overall working performance and the fuel economical property of the tractor and the working quality and the working efficiency of a set are comprehensively checked. By different types of control software, the development periods of the high-power tractor and parts and the controller which are suspended on the high-power tractor can be simplified; and the development cost is reduced.
Description
Technical field
The invention belongs to big-power tractor performance test field, particularly the semi-physical simulation test platform of a kind of big-power tractor electro-hydraulic hitch system.Research and development, production and the performance test emulation test system about the big-power tractor critical component specifically.
Background technology
The development﹠ testing of traditional Tractor Electronic Hydraulic Hitch System is based on real vehicle and the stand and carries out, complex structure, have high input, the cycle is long, the operation and maintenance cost is high, particularly especially true to the higher big-power tractor critical component of parameter request.
Utilize semi-true object emulation technology, part system in the big-power tractor testing table is replaced with software mode, by mathematical model, carry out the associative simulation of real-time mathematical simulation and matter emulation, performance to tractor critical component, complete machine and unit is tested, can be used as the preliminary preparation of true test, and can substitute to a certain extent traditional test.Adopt semi-true object emulation technology not only can save the big-power tractor cost of development, shorten the construction cycle, overcome and use danger and high flow rate in kind, but also can be by good interactive interface multiple authentication and optimization.Improve the performance of tractor.
Summary of the invention
The semi-physical simulation test platform that the purpose of this invention is to provide a kind of big-power tractor electro-hydraulic hitch system, it is characterized in that, this emulation test system comprises entity part and virtual part, and connected and composed the semi-physical simulation test platform of big-power tractor electro-hydraulic hitch system by the interface section, the entity part running parameter is input to computing machine for model by the interface integrated circuit board, the output parameter of model outputs to entity part by the interface integrated circuit board, forms thus closed loop test system.
Described entity part comprises hydraulic system propulsion system, electric liquid divider to be verified and loads the proportional pressure control valve of usefulness.
Described virtual part comprises the dynamic calculation model of engine, wheel box, simulation loading job load, agricultural machinery suspension member and electrohydraulic controller assembly to be verified.
Described interface section comprises a desk-top computer, several functions integrated circuit board, a signal generator.Wherein the several functions integrated circuit board is comprised of ten six tunnel analog input A/D capture cards, eight tunnel simulation output D/A transition cards, 32 railway digital I/O cards, ten six tunnel drivings and signal condition module.Software Development Platform comprises MATLAB/Simulink and LabVIEW.
The test method of described emulation test system comprises:
(1) by torque-speed-efficiency characteristic curve, sets up big-power tractor diesel motor, wheel box, master clutch and side clutch mathematical model by the different capacity section; Wherein the working point of engine is determined by rotating speed and accelerator open degree; Wheel box adopts mechanical type, and gear adopts and 4 * 3 advances+4 * 1 retreat, and pace is divided into basic, normal, high fast three gears, and the speed of a motor vehicle and two kinds of gearshifts of engine load rate mode of operations are adopted in gearshift; Clutch model is reduced to combination, released state; Model by above foundation forms engine, major-minor clutch coupling and wheel box module in MATALB/Simulink;
(2) described torque-speed-efficiency characteristic curve is by set up big-power tractor travel mechanism and load by wheeled construction; Set up Working mechanism and load module by the trifilar suspension structure; Dividing dry cement pavement, sandy loam, three kinds of road surfaces of clay to set up the edaphic condition model and set up the simulation loading model by the typical operation operating mode forms; And in MATALB/Simulink, form travel mechanism, hitch and edaphic condition module;
(3) command signal of the mathematical model output parameter of simulated loading system and signal generator is passed through several functions integrated circuit board, LabVIEW software contacts on hydraulic system and tested controller, load variations in the simulation actual job process, and control according to the operation situation, namely promote, descend and keep the agricultural machinery suspension member; The hydraulic system operational factor is passed through several functions integrated circuit board, LabVIEW software contacts to the simulation loading module, obtain quantity of state and feedback quantity, then relate to travel mechanism model, hitch model and edaphic condition model, then relate to engine mockup, major-minor clutch model and wheel box model, thereby determine the working point of complete machine unit on the engine curve; Again according to the requirement of hauling ability and fuel-economy performance, after this working point estimated, adjust the job parameter of wheel box gear, agricultural machinery suspension member, therefore in this closed-loop system, can the real time modifying job parameter mate, to reach optimal parameter; Simultaneously, by in the man-machine interface of LabVIEW software programming above-mentioned test process being carried out demonstration, modification and the preservation of data;
(4) change different divider and controller, repeat to do above-mentioned test, with the rationality of checking basic parameter, the static and dynamic performance of divider, the control strategy of controller, thereby reach the purpose of optimal design.
The invention has the beneficial effects as follows the semi-physical simulation test platform of this big-power tractor electro-hydraulic hitch system, this plateform system is based on the engine under the big-power tractor operation unit various working, wheel box and agricultural machinery and implement suspension member (comprise plough, rake, plant, insert, harvesters etc. hang over the tractor front, the farm implements of back) assembly dynamic mathematical models, in conjunction with electro-hydraulic hitch hydraulic system part device in kind, computing machine and interface integrated circuit board form integrated Semi-Physical Simulation Test System, designed electric liquid lift valve and controller are carried out real-time simulation, test, estimate and improve, comprehensively examine the complete machine of tractor serviceability, fuel economy and unit operation quality, operating efficiency; The construction cycle that the difference control software of structure can be simplified big-power tractor and hang each parts and controller, save cost of development.
Description of drawings
Fig. 1 is big-power tractor electro-hydraulic hitch semi-physical simulation system construction drawing
Slippage rate control mode test flow chart when Fig. 2 is cultivation operation
Embodiment
The invention provides the semi-physical simulation test platform of a kind of big-power tractor electro-hydraulic hitch system.Be explained below in conjunction with accompanying drawing.
In Fig. 1, this emulation test system comprises entity part (hydraulic system propulsion system: variable-frequency motor hydraulic variable displacement pump; The proportional pressure control valve of electric liquid divider to be verified and loading usefulness).With virtual (computing machine) part be by engine, major-minor clutch coupling, wheel box and travel mechanism, hitch and edaphic condition; The dynamic calculation model of simulation loading job load, agricultural machinery suspension member and assemblies such as electrohydraulic controller to be verified.And connected and composed the semi-physical simulation test platform of big-power tractor electro-hydraulic hitch system by the interface section, the entity part running parameter is input to computing machine for model by interface integrated circuit board (being comprised of a desk-top computer, programmable signal generator, multi-functional integrated circuit board, sensor, driver, electrohydraulic controller to be verified), the output parameter of model outputs to entity part by the interface integrated circuit board, forms thus closed loop test system.
Above-mentioned several functions integrated circuit board is comprised of ten six tunnel analog input A/D capture cards, eight tunnel simulation output D/A transition cards, 32 railway digital I/O cards, ten six tunnel drivings and signal condition module.Software Development Platform comprises MATLAB/Simulink and LabVIEW.
Embodiment
The present invention is difficult to carry out emulation by mathematical model because hydraulic system is dynamically controlled the strong nonlinearity characteristics that have, therefore adopt entity to make up; During take cultivation operation under the slippage rate regulative mode divider dynamic performance testing be example, specific implementation method is as follows:
(1) load characteristic modeling during cultivation operation.Under the condition of level land the traction balance equation of tractor as the formula (1),
F
K=F
T+F
f=Z·b
0·h
0·k
0·n+f·G （1）
F in the formula
K---the total driving force of tractor, N;
F
T---tractor-drawn resistance, N;
F
f---tractor running resistance, N;
Z---single ploughshare number;
b
0---monomer ploughshare width, m;
h
0---tilling depth, m;
k
0---soil specific resistance, N/m
2, different and different according to pavement conditions;
N---ploughshare row;
G---tractor deadweight, N.G=mg, m are tractor mass, kg;
F---coefficient of rolling resistance of tractor.
(2) determine suitable gear.For field elemental operation gear, need to consider that each gear can both take full advantage of the power of engine, obtain preferably economy, determine thus the ratio of gear of each gear.From the governor control characteristics of engine as can be known, engine load all is equal to or slightly lower than the demarcation torque M when being preferably in any operating mode
EN, just can remain higher throughput rate and economy preferably.The total driving force F of tractor during therefore by cultivation operation
KFind the large load region of probability to remove to select gear in the variation range, namely through type (2) is calculated suitable ratio of gear, makes M
eAnd M
ENApproach.
M in the formula
e---the torque output of engine, Nm;
r
K---the dynamic radius of driving wheel, m;
η
Mq---total transmission efficiency;
i
g---transmission ratio;
i
0---final driver ratio.
(3) for giving full play to the effective efficiency of engine, need carry out the checking computations of propulsive efficiency.Propulsive efficiency is by η
T=η
Mqη
δη
fProvide, wherein transmission efficiency η
MqRelevant with the power train structure, generally be approximately constant, get about 0.9 during cultivation operation; The efficiency eta of trackslipping
δDepend primarily on tractive force F
T, when operating rate improved, if engine calibration power is constant, then tractive force must reduce, at this moment η
δCan increase to some extent; The rolling efficiency eta
fRelevant with resistance to rolling, usually all think its resistance to rolling F at the tractor of certain edaphic condition work
fConstant, by
As can be known, η
fWith total driving force F
KDifference and change.After tractive force was determined scope, propulsive efficiency just can be substantially definite, for throughput rate and the efficiency that guarantees that tractor is higher, wishes η
TBe not less than 0.9 η
T max
(4) during the tractor operation, because there be certain trackslipping in tractor driving wheel and soil, cause tractor driving wheel linear velocity and the tractor speed of a motor vehicle inconsistent, if slippage rate surpasses 25～30%, will produce such as problems such as soil body damage, tire wear and time and energy dissipations so.Adopting the slippage rate control mode to regulate tilling depth has the following advantages: save time and fuel; Reduce tire wear; Soil protection; Reduce driver's working pressure; Vehicle can be by sunken car.Can calculate the efficiency eta of trackslipping by slippage rate
δ, as the formula (3), tractor is worked under certain edaphic condition, and the variation relation of its slippage rate and tractive force is provided by trial curve, and is embodied in the realistic model.Need to consider tractor operating speed and tractive force under the slippage rate control, obtain best slippage rate scope from curve, make engine load be in best region.Therefore slippage rate control is just as tractive force control, and namely when slippage rate increased, hitch promoted, and the tilth of farm implements reduces, thereby reduces the tractive resistance of tractor.
The actual vehicle speed of v in the formula---tractor, km/h;
v
T---the theoretical speed of a motor vehicle of tractor, km/h;
η
δ---the efficient of trackslipping;
δ---slippage rate.
When adopting slippage rate control to carry out semi-physical simulation, actual vehicle speed is provided according to parameters such as edaphic conditions by simulated loading system, and the theoretical speed of a motor vehicle of zero slip is provided by the output parameter of wheel box.Can be calculated slippage rate and be used to control by these two signals, its control principle of work block diagram as shown in Figure 2.
Claims (5)
1. the semi-physical simulation test platform of a big-power tractor electro-hydraulic hitch system, it is characterized in that, this emulation test system comprises entity part and virtual part, and the Semi-Physical Simulation Test System that connects and composes big-power tractor and hang agricultural machinery spare by the interface section, the entity part running parameter is input to computing machine for model by the interface integrated circuit board, the output parameter of model outputs to entity part by the interface integrated circuit board, forms thus closed loop test system.
2. the semi-physical simulation test platform of described big-power tractor electro-hydraulic hitch system according to claim 1 is characterized in that, described entity part comprises hydraulic system propulsion system, electric liquid divider to be verified and loads the proportional pressure control valve of usefulness.
3. the semi-physical simulation test platform of described big-power tractor electro-hydraulic hitch system according to claim 1, it is characterized in that, described virtual part comprises the dynamic calculation model of engine, wheel box, simulation loading job load, agricultural machinery suspension member, assemblies such as electrohydraulic controller to be verified.
4. the semi-physical simulation test platform of described big-power tractor electro-hydraulic hitch system according to claim 1 is characterized in that, described interface section comprises a desk-top computer, several functions integrated circuit board, a signal generator; Wherein the several functions integrated circuit board is comprised of ten six tunnel analog input A/D capture cards, eight tunnel simulation output D/A transition cards, 32 railway digital I/O cards, ten six tunnel drivings and signal condition module.Software Development Platform comprises MATLAB/Simulink and LabVIEW.
5. the test method of the semi-physical simulation test platform of a big-power tractor electro-hydraulic hitch system is characterized in that, the test method of described emulation test system comprises:
(1) by torque-speed-efficiency characteristic curve, sets up big-power tractor diesel motor, wheel box, master clutch and side clutch mathematical model by the different capacity section; Wherein the working point of engine is determined by rotating speed and accelerator open degree; Wheel box adopts mechanical type, and gear adopts and 4 * 3 advances+4 * 1 retreat, and pace is divided into basic, normal, high fast three gears, and the speed of a motor vehicle and two kinds of gearshifts of engine load rate mode of operations are adopted in gearshift; Clutch model is reduced to combination, released state; Model by above foundation forms engine, major-minor clutch coupling and wheel box module in MATALB/Simulink;
(2) described torque-speed-efficiency characteristic curve is by set up big-power tractor travel mechanism and load by wheeled construction; Set up Working mechanism and load module by the trifilar suspension structure; Dividing dry cement pavement, sandy loam, three kinds of road surfaces of clay to set up the edaphic condition model and set up the simulation loading model by the typical operation operating mode forms; And in MATALB/Simulink, form travel mechanism, hitch and edaphic condition module;
(3) command signal of the mathematical model output parameter of simulated loading system and signal generator is passed through several functions integrated circuit board, LabVIEW software contacts on hydraulic system and tested controller, load variations in the simulation actual job process, and control according to the operation situation, namely promote, descend and keep the agricultural machinery suspension member; The hydraulic system operational factor is passed through several functions integrated circuit board, LabVIEW software contacts to the simulation loading module, obtain quantity of state and feedback quantity, then relate to travel mechanism model, hitch model and edaphic condition model, then relate to engine mockup, major-minor clutch model and wheel box model, thereby determine the working point of complete machine unit on the engine curve; Again according to the requirement of hauling ability and fuel-economy performance, after this working point estimated, adjust the job parameter of wheel box gear, agricultural machinery suspension member, therefore in this closed-loop system, can the real time modifying job parameter mate, to reach optimal parameter; Simultaneously, by in the man-machine interface of LabVIEW software programming above-mentioned test process being carried out demonstration, modification and the preservation of data;
(4) change different divider and controller, repeat to do above-mentioned test, with the rationality of checking basic parameter, the static and dynamic performance of divider, the control strategy of controller, thereby reach the purpose of optimal design.
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| CN104535357A (en) * | 2015-01-21 | 2015-04-22 | 中国海洋石油总公司 | Liquid tank model slamming load semi-physical simulation measurement system |
| CN105938331A (en) * | 2016-06-29 | 2016-09-14 | 中国北方车辆研究所 | Semi-physical simulation platform for hybrid vehicle research and development |
| CN109342067A (en) * | 2018-08-31 | 2019-02-15 | 西安航天动力技术研究所 | A kind of solid rocket ramjet test macro |
| CN110750055A (en) * | 2019-11-27 | 2020-02-04 | 中车大连电力牵引研发中心有限公司 | Whole car semi-physical simulation test platform of electric tractor |
| CN111258233A (en) * | 2020-03-13 | 2020-06-09 | 洛阳拖拉机研究所有限公司 | General type control system of tractor torque output simulation test equipment |
| CN112213958A (en) * | 2020-10-24 | 2021-01-12 | 济宁学院 | Electro-hydraulic control comprehensive simulation test platform |
| CN112926194A (en) * | 2021-02-02 | 2021-06-08 | 三一重型装备有限公司 | Method and system for acquiring state information of mine car suspension system |
| CN114430950A (en) * | 2022-01-24 | 2022-05-06 | 潍柴雷沃重工股份有限公司 | Tractor lifter control method and device, storage medium and tractor |
| CN114814390A (en) * | 2021-01-21 | 2022-07-29 | 核工业理化工程研究院 | Multifunctional frequency converter test platform and test method thereof |
| CN115030939A (en) * | 2022-06-02 | 2022-09-09 | 中国农业大学 | Direct-drive type electro-hydraulic suspension system for electric tractor and control method thereof |
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| CN104535357A (en) * | 2015-01-21 | 2015-04-22 | 中国海洋石油总公司 | Liquid tank model slamming load semi-physical simulation measurement system |
| CN105938331A (en) * | 2016-06-29 | 2016-09-14 | 中国北方车辆研究所 | Semi-physical simulation platform for hybrid vehicle research and development |
| CN109342067A (en) * | 2018-08-31 | 2019-02-15 | 西安航天动力技术研究所 | A kind of solid rocket ramjet test macro |
| CN110750055A (en) * | 2019-11-27 | 2020-02-04 | 中车大连电力牵引研发中心有限公司 | Whole car semi-physical simulation test platform of electric tractor |
| CN111258233B (en) * | 2020-03-13 | 2022-11-11 | 洛阳拖拉机研究所有限公司 | General type control system of tractor torque output simulation test equipment |
| CN111258233A (en) * | 2020-03-13 | 2020-06-09 | 洛阳拖拉机研究所有限公司 | General type control system of tractor torque output simulation test equipment |
| CN112213958A (en) * | 2020-10-24 | 2021-01-12 | 济宁学院 | Electro-hydraulic control comprehensive simulation test platform |
| CN112213958B (en) * | 2020-10-24 | 2022-12-02 | 济宁学院 | Electro-hydraulic control comprehensive simulation test platform |
| CN114814390A (en) * | 2021-01-21 | 2022-07-29 | 核工业理化工程研究院 | Multifunctional frequency converter test platform and test method thereof |
| CN112926194A (en) * | 2021-02-02 | 2021-06-08 | 三一重型装备有限公司 | Method and system for acquiring state information of mine car suspension system |
| CN112926194B (en) * | 2021-02-02 | 2024-04-12 | 三一重型装备有限公司 | Method and system for acquiring state information of mine car suspension system |
| CN114430950A (en) * | 2022-01-24 | 2022-05-06 | 潍柴雷沃重工股份有限公司 | Tractor lifter control method and device, storage medium and tractor |
| CN115030939A (en) * | 2022-06-02 | 2022-09-09 | 中国农业大学 | Direct-drive type electro-hydraulic suspension system for electric tractor and control method thereof |
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