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馬鈴薯聯(lián)合收獲機輸送臂系統(tǒng)的運動防碰仿真
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    摘要:

    針對馬鈴薯聯(lián)合收獲機輸送臂系統(tǒng)的結(jié)構(gòu)，提出了基于Adams-Matlab的聯(lián)合仿真方法和防碰撞控制的限位算法,；在對運動防碰問題分析的基礎(chǔ)上,，對二自由度輸送臂系統(tǒng)的運動防碰進行了仿真分析,，得出了輸送臂轉(zhuǎn)角θ1和θ2關(guān)于時間的變化曲線,，以及輸送臂與馬鈴薯距離,、輸送臂與車斗壁距離隨時間的變化曲線,，證明了限位算法和控制方法的可行性,，有效解決了輸送臂運動防碰問題。

    Abstract:

    Aiming at the elevator equipment of potato harvester, an integration simulation method based on Adams-Matlab and limit algorithms used in anti-collision control was proposed. The simulation and pre-description on the anti-collisions of two-freedom elevator were carried out by analyzing the anti-collision problem. The curves of angle θ1 and θ2 of potato harvester elevator with the time, the curves of distance between the end of harvester elevator and potato pile with the time, and the curves of distance between the elevator and the trailer with the time, were obtained respectively. The results showed that the limit algorithm and control method for this case was feasible, and the anti-collision of elevator motion was satisfying.

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桑永英,張東興,賈晶霞,李晶,李新領(lǐng).馬鈴薯聯(lián)合收獲機輸送臂系統(tǒng)的運動防碰仿真[J].農(nóng)業(yè)機械學(xué)報,2007,38(11):52-55.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(11):52-55.

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