Turning control method and device for wheeled tractor
A wheeled tractor, turning control technology, applied in the direction of vehicle steering/bump performance, etc., can solve the problems of crude technical means and low measurement accuracy
Active Publication Date: 2018-04-13
CAPITAL NORMAL UNIVERSITY
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Problems solved by technology
[0005] The invention provides a turning control method and device for a wheeled tractor, which can quickly and accurately output the measurement results of the turning radius of the wheeled tractor, effectively solving the crude technical means in the turning radius measurement method in the prior art , low measurement accuracy and other issues, thus effectively improving the turning control accuracy of wheeled tractors
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[0073] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0074] figure 1 It is a flowchart diagram of the turning control method of the given wheeled tractor; refer to the attached figure 1 It can be seen that one aspect of the present invention provides a turning control method for a wheeled tractor, including:
[0075] S1: Obtain the point coordinates of several points on the trajectory circle formed by driving the wheeled tractor at a constant speed for at least one circle. The trajectory circle is formed by rotating the steering wheel of the wheeled tractor to a preset position and then driving without moving. The trajectory The circle is specifically formed by the center of the front wheel axle of said wheeled tractor;
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The invention provides a roller tractor turning control method and device. The method comprises the steps that the point coordinates of multiple points on a track circle formed by moving of a roller tractor for at least one circle at a constant speed are acquired, and the track circle is formed in a way that the steering wheel of the roller tractor is rotated to a preset position and then maintained unchanged in moving; fitting calculation of the point coordinates of multiple points is performed by utilizing a circle fitting method, and the moving track circle radius R<0> of the roller tractor is determined; moving turning radius R=R<0>+L<tw> / 2 of the roller tractor is determined according to front wheel distance L<tw> of the front wheels of both sides of the roller tractor and the track circle radius R<0>; and turning control of the roller tractor is performed according to the turning radius R=R<0>+L<tw> / 2. According to the roller tractor turning control method and device, the problems in the prior art that measurement technological means are poor and measurement precision is low can be effectively overcome, turning control precision of the roller tractor can be guaranteed, and enhancement of working efficiency of the roller tractor is facilitated.
Description
technical field [0001] The invention relates to the technical field of wheeled tractors, in particular to a turning control method and device for wheeled tractors. Background technique [0002] Wheeled tractors are a type of tractors, which are suitable for large farms equipped with wide-width agricultural tools for farmland operations. As far as wheeled tractors are concerned, the turning radius refers to when the steering wheel is turned to the limit position, when turning at the lowest stable speed, The radius of the track circle that the center of the outer steering wheel rolls on the support plane is the turning radius. For wheeled tractors, the turning radius index not only represents the steering performance, but also affects the turning mode adopted by the tractor during field operations; among the tractor product parameters provided by foreign agricultural machinery manufacturers, the turning radius is one of the standard parameters of the steering system . [000...
Claims
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IPC IPC(8): G01M17/06
CPCG01M17/06
Inventor 刘卉
Owner CAPITAL NORMAL UNIVERSITY