Field soil tank based powertrain suspension development bench apparatus and control method thereof

Abstract

The application provides a kind of based on field soil groove power chassis suspension development rack device and control method, when suspension test, the device is installed by suspension device the suspension assembly to be tested, simultaneously the device is realized longitudinal field movement and transverse field movement by travelling platform car and test platform car, the device acceleration sensor is used to collect the information of spring mass motion of suspension assembly when walking in farmland, the device displacement sensor is used to collect the up and down displacement stroke information of suspension assembly.The application provides based on field soil groove power chassis suspension development rack device and control method, realizes the test of suspension under field working condition, designs integrated test device with outdoor real field working condition and suspension mounting data collection, makes up the deficiency of existing indoor suspension development rack device not fitting field actual working condition.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment technology, specifically to a power chassis suspension development platform device based on field troughs and its control method. Background Technology

[0002] Rice is a major food crop in my country. Mechanized rice cultivation in my country mainly relies on mechanized transplanting and direct seeding, both of which require high-speed powered chassis. The vibration damping effect of the powered chassis during operation directly affects the performance of the rear-mounted implements. Furthermore, road surface excitation in paddy fields exacerbates chassis slippage and wheel spin. The design and development of domestically produced light-duty powered chassis suspensions suffers from a lack of theoretical models, unclear understanding of suspension vibration characteristics and patterns, and inadequate bench testing equipment, posing a significant challenge to the development of key powered chassis technologies.

[0003] Therefore, existing technologies need to be improved and enhanced. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a development platform and control method for a dynamic chassis suspension based on a field trough. This method can solve the problem of accurately and quickly obtaining various parameters during the development of a light dynamic chassis suspension in paddy fields. It can also verify the effectiveness of the improved suspension system in reducing road surface excitation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A development platform for a power chassis suspension based on a field ditch includes a travel track, a travel trolley, a connecting frame, a test trolley, a hanger, a suspension device, an upper hanger hook, a lower hanger rocker arm, a suspension connecting rod, a suspension assembly, a suspension tie rod, a measurement and control system unit, a base plate, and a main control unit. The travel track is fixedly laid on both sides of the farmland. The wheels of the travel trolley are slidably connected to the travel track. One end of the connecting frame is fixed to one side of the travel trolley, and the other end of the connecting frame is fixed to one side of another travel trolley. The wheels of the test trolley are slidably connected to the connecting frame. The suspension assembly is equipped with a suspension tie rod, and the suspension device is equipped with a suspension connecting rod. The suspension assembly includes a suspension tie rod rotatably connected to the suspension connecting rod, an upper hook and a lower rocker arm on the suspension device, a connector on the test trolley, an upper hook fixed to the upper part of one side of the connector, a lower rocker arm fixed to the lower part of one side of the connector, a displacement sensor below the electromagnetic spring of the suspension assembly, a measurement and control system unit and a main control unit mounted on the base plate, a frame half-bridge on the suspension assembly, the upper part of the frame half-bridge fixed to one side of the base plate, an acceleration sensor on the frame half-bridge, and the displacement sensor and the acceleration sensor connected to the main control unit.

[0007] Furthermore, the test trolley includes a lifting rod, a lower rod, an upper rod, and a test trolley frame. One end of the lifting rod is rotatably connected to one end of the test trolley frame, one end of the lower rod is rotatably connected to the other end of the test trolley frame, the other end of the lifting rod is rotatably connected to the middle of the lower rod, one end of the upper rod is rotatably connected to the other end of the test trolley frame, and the other end of the upper rod is rotatably connected to the other side of the connector.

[0008] Furthermore, the suspension device includes a hook adjustment position and a suspension support arm. One end of the upper hook is fixed to the upper part of one side of the hook, the lower hook rocker arm is connected to the lower part of one side of the hook, the other end of the upper hook is sleeved on the hook adjustment position and can slide up and down with the suspension support arm, and one end of the suspension connecting rod is fixed to one side of the suspension support arm.

[0009] Furthermore, the suspension assembly includes a paddy wheel, a suspension wheel connecting disc, a suspension rocker arm, and a suspension side support arm. The axle of the paddy wheel is rotatably connected to the axis of the suspension wheel connecting disc. The upper end of the suspension wheel connecting disc is fixed to the lower end of the electromagnetic spring. One side of the suspension rocker arm is fixed to the outer shell side of the electromagnetic spring. The upper end of the electromagnetic spring is rotatably connected to the lower end of the frame half-bridge. The lower end of the suspension side support arm is fixed to the upper end of the suspension rocker arm. The upper end of the suspension side support arm is connected to and slidably disposed with respect to the upper end of the frame half-bridge. The front end of the suspension rocker arm is rotatably connected to one end of the suspension tie rod, and the other end of the suspension tie rod is rotatably connected to the other end of the suspension connecting rod.

[0010] Furthermore, a spherical shaft is provided at the front end of the suspension rocker arm and the other end of the suspension connecting rod, and spherical holes are provided at both ends of the suspension tie rod, with the center of the spherical shaft coinciding with the center of the spherical hole.

[0011] Furthermore, the measurement and control system unit includes a counterweight stop bar, a calibration acceleration sensor, a CAN communication module, a CAN bus, a displacement signal processing module, an acceleration signal processing module, an electromagnetic spring drive system, a calibration acceleration signal processing module, an electromagnetic spring encoder, and a spring-loaded counterweight. One end of the counterweight stop bar is fixed to one side of the base plate, the spring-loaded counterweight is placed on one side of the base plate, the side of the counterweight stop bar is in contact with the spring-loaded counterweight, and the calibration acceleration sensor is fixed to one side of the suspension support arm.

[0012] Furthermore, the displacement sensor is connected to the displacement signal processing module, the displacement signal processing module is connected to the main control unit, the acceleration sensor is connected to the acceleration signal processing module, the acceleration signal processing module is connected to the main control unit, the calibration acceleration sensor is connected to the calibration acceleration signal processing module, the calibration acceleration signal processing module is connected to the main control unit, the electromagnetic spring is connected to the electromagnetic spring encoder, the electromagnetic spring encoder is connected to the electromagnetic spring drive system, the electromagnetic spring drive system is connected to the electromagnetic spring, the electromagnetic spring drive system is connected to the main control unit, the main control unit is connected to the CAN communication module, and the CAN communication module is connected to the CAN bus.

[0013] A control method for a dynamic chassis suspension development test bench device based on a field trough includes the following steps:

[0014] Step 1: Divide the farmland into n different equidistant test plots based on their flatness and moisture content;

[0015] Step 2: Input the length a and width b of the farmland into the measurement and control system unit, input the length a1 and width b1 of the farmland into the measurement and control system unit, and input the spacing c of the n different small plots to be measured into the measurement and control system unit.

[0016] Step 3: When the paddy field wheel travels and experiences an up-and-down wheel jump displacement ∆θ, the displacement sensor detects the wheel jump displacement, converts it into a voltage signal, and feeds it back to the displacement signal processing module. The displacement signal processing module converts the voltage signal into a digital signal and transmits it to the main control unit.

[0017] Step 4: The acceleration sensor detects the acceleration α1 of the suspension development bench, and the calibrated acceleration sensor detects the Earth's gravitational acceleration α2. α1 and α2 are transmitted to the main control unit through the acceleration signal processing module and the calibration acceleration signal processing module. The main control unit calculates the acceleration α of the suspension development bench by eliminating acquisition errors through the differential signal method.

[0018] Step 5: The spring counterweight is a simulated load on the spring that the suspension actually bears during operation. It is applied to the electromagnetic spring by weights of appropriate weights.

[0019] Step 6: The electromagnetic spring encoder calculates the current damping strength β of the electromagnetic spring by detecting the difference in magnetic flux inside the electromagnetic spring when it is in different positions. The electromagnetic spring encoder converts the real-time detected current damping strength β of the electromagnetic spring into a digital signal and transmits it to the electromagnetic spring drive system. The electromagnetic spring drive system transmits the signal to the main control unit.

[0020] Step 7: The main control unit sends the target damping strength ω signal to the electromagnetic spring drive system, and the electromagnetic spring drive system transmits the target damping strength ω signal to the electromagnetic spring.

[0021] Furthermore, the step of the main control unit detecting the difference ∆ω between the current damping strength β and the target damping strength ω of the electromagnetic spring includes:

[0022] The main control unit determines whether ∆ω is within the allowable error range. If ∆ω>2N•s / m, an error is detected, and the corresponding error code is output, and the system stops working. If ∆ω≤2N•s / m is within the allowable error range and the electromagnetic spring has no excitation action, the suspension adjustment is completed at this time.

[0023] Compared to existing technologies, the present invention provides a power chassis suspension development platform device and control method based on field troughs. The travel track is fixedly laid on both sides of the farmland. The wheels of the traveling trolley are connected to the travel track, and the wheels of the test trolley are connected to the traveling trolley track. The suspension assembly is connected to one side of the suspension device, and the other side of the suspension device is fixed to one side of the test trolley. A displacement sensor is installed under the suspension assembly, and an acceleration sensor is installed on the upper part of the suspension assembly. The upper part of the suspension assembly is fixed to the measurement and control system unit. When simulating suspension operation in real outdoor farmland, it is subjected to... The full-condition road excitation replaces the single road excitation simulated by motors in traditional indoor suspension development test benches. The main control unit detects the unsprung motion stroke of the suspension components through displacement sensors and the overall vibration amplitude of the suspension development test bench through acceleration sensors. Further investigation is conducted on the suppression of the overall vibration amplitude of the suspension development test bench and the improvement of the quality of farming operations by electromagnetic spring suspension at different damping levels under real outdoor farmland conditions. The optimal electromagnetic spring suspension control method is obtained by dividing different experimental plots using the two-dimensional coordinate system of the traveling trolley and the test trolley. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of a power chassis suspension development platform based on a field trough according to a preferred embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of a suspension platform for a power chassis suspension development platform based on a field trough according to a preferred embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of a test trolley for a power chassis suspension development bench based on a field trough according to a preferred embodiment of the present invention.

[0028] Figure 4 This is a schematic diagram of the overall connection of a power chassis suspension development platform device based on a field trough according to a preferred embodiment of the present invention.

[0029] Figure 5 This is a schematic diagram of the layout of the measurement and control system of the power chassis suspension development test bench based on a field trough according to a preferred embodiment of the present invention.

[0030] Figure 6This is a schematic diagram of the walking trolley connecting frame structure of a power chassis suspension development platform device based on a field trough according to a preferred embodiment of the present invention.

[0031] Figure 7 This is a schematic diagram of a ball joint connection for a power chassis suspension development platform device based on a field trough according to a preferred embodiment of the present invention.

[0032] Figure 8 This is a schematic diagram of the suspension connection of a power chassis suspension development platform based on a field trough according to a preferred embodiment of the present invention.

[0033] Figure 9 This is a flowchart illustrating a preferred embodiment of the dynamic chassis suspension development bench control method based on a field trough according to the present invention.

[0034] Figure 10 This is a schematic diagram of the overall block diagram of a power chassis suspension development bench control method based on a field trough according to a preferred embodiment of the present invention.

[0035] The following are explanations of the reference numerals in the attached drawings: 100, traveling track; 200, traveling trolley; 201, connecting frame; 300, test trolley; 301, lifting rod; 302, lower pull rod; 303, upper pull rod; 304, hook; 305, test trolley frame; 400, suspension development bench; 410, suspension device; 411, upper hook; 412, hook adjustment position; 413, suspension support arm; 414, lower hook rocker arm; 415, suspension connecting rod; 420, suspension assembly; 421, paddy field wheel; 422, suspension tie rod; 423, suspension wheel connecting disc; 424, suspension rocker arm; 425. Electromagnetic spring; 426. Chassis half-axle; 427. Suspension side support arm; 430. Measurement and control system unit; 431. Counterweight stop bar; 432. Base plate; 433. Displacement sensor; 434. Accelerometer sensor; 435. Main control unit; 436. Calibration accelerometer sensor; 441. CAN communication module; 442. CAN bus; 443. Displacement signal processing module; 444. Accelerometer signal processing module; 445. Electromagnetic spring drive system; 446. Calibration acceleration signal processing module; 447. Electromagnetic spring encoder; 448. Sprung counterweight; 500. Farmland. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0037] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0038] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0039] like Figure 1 , Figure 2 and Figure 4As shown, the dynamic chassis suspension development platform device based on field troughs provided by the present invention includes a travel track 100, a travel trolley 200, a connecting frame 201, a test trolley 300, a hanger 304, a suspension device 410, an upper hanger hook 411, a lower hanger rocker arm 414, a suspension connecting rod 415, a suspension assembly 420, a suspension tie rod 422, a measurement and control system unit 430, and a main control unit 435. The travel track 100 is fixedly laid on both sides of the farmland 500. The wheels of the traveling trolley 200 are slidably connected to the traveling track 100. One end of the connecting frame 201 is fixed to one side of the traveling trolley 200, and the other end of the connecting frame 201 is fixed to one side of another traveling trolley 200. The wheels of the test trolley 300 are slidably connected to the connecting frame 201. A suspension tie rod 422 is provided on the suspension assembly 420, and a suspension connecting rod 415 is provided on the suspension device 410. 22 is rotatably connected to the suspension connecting rod 415. The suspension device 410 is provided with the upper hook 411 and the lower hook rocker arm 414. The test trolley 300 is provided with the hanger 304. The upper hook 411 is fixed to the upper part of one side of the hanger 304, and the lower hook rocker arm 414 is fixed to the lower part of one side of the hanger 304. The electromagnetic spring 425 of the suspension assembly 420 is provided with a device for detecting the movement of the electromagnetic spring 425. The displacement sensor 433 has a dynamic stroke. The measurement and control system unit 430 and the main control unit 435 are mounted on the base plate 432. The suspension assembly 420 is provided with a frame half bridge 426. The upper part of the frame half bridge 426 is fixed to one side of the base plate 432. The frame half bridge 426 is provided with an acceleration sensor 434 for detecting suspension amplitude. The displacement sensor 433 and the acceleration sensor 434 are connected to the main control unit 435.

[0040] During operation, the traveling trolley 200 moves longitudinally on the traveling track 100, and the test trolley 300 moves laterally on the traveling trolley 200. Under the action of the traveling trolley 200 and the test trolley 300, the suspension development platform 400 achieves two-dimensional coordinate movement. Under the action of the traveling trolley 200 and the test trolley 300, the farmland (500) can be divided into n different equidistant test plots according to the flatness and moisture content. The displacement sensor 433 detects the wheel jump displacement signal and transmits it to the main control unit 435, and the acceleration sensor 434 detects the acceleration signal of the suspension development platform and transmits it to the main control unit 435. By using the two-dimensional coordinate system of the traveling trolley and the test trolley to locate and divide different test plots, the optimal electromagnetic spring suspension control method is obtained. Compared with the existing indoor platform, this platform can simulate actual field working conditions to explore the impact of different suspension vibration reduction effects on the operation of rear-mounted implements, and has good practical value.

[0041] Furthermore, such as Figure 3 and Figure 6 As shown, the test trolley 300 includes a lifting rod 301, a pull rod 302, an upper pull rod 303, and a test trolley frame 305. One end of the lifting rod 301 is rotatably connected to one end of the test trolley frame 305, one end of the pull rod 302 is rotatably connected to the other end of the test trolley frame 305, the other end of the lifting rod 301 is rotatably connected to the middle of the pull rod 302, one end of the upper pull rod 303 is rotatably connected to the other end of the test trolley frame 305, and the other end of the upper pull rod 303 is rotatably connected to the other side of the connector 304.

[0042] It should be noted that the other end of the lifting rod 301 is rotatably connected to the middle of the pull-down rod 302 to form a stable four-bar linkage, ensuring the stability of the attachment. The other end of the upper pull rod 303 is rotatably connected to the other side of the hanger 304 to form a stable four-bar linkage, ensuring the stability of the load. The pull-down rod 302 and the hanger 304 are used together when attaching different tools to the test trolley 300, which has better adaptability.

[0043] Furthermore, such as Figure 2 As shown, the suspension device 410 includes a hook adjustment position 412 and a suspension support arm 413. One end of the upper hook 411 is fixed to the upper part of one side of the hanger 304. The lower hook rocker arm 414 is connected to the lower part of one side of the hanger 304. The other end of the upper hook 411 is sleeved on the hook adjustment position 412 and can slide up and down with the suspension support arm 413. One end of the suspension connecting rod 415 is fixed to one side of the suspension support arm 413.

[0044] It should be noted that the front part of the upper hook 411 is fixed to the upper side of the test trolley 300, driving the entire test trolley forward. The suspension support arm 413 is connected to the lower side of the hanger 304 to counteract the influence of the suspension device 410's own weight on the overall test trolley. The rear part of the upper hook 411 is sleeved on the hook adjustment position 412 and can slide up and down with the suspension support arm 413 to adjust the overall hanging height of the test trolley. This provides better adaptability and versatility when testing different suspension structures, reducing development costs.

[0045] Furthermore, such as Figure 2 and Figure 8As shown, the suspension assembly 420 includes a paddy wheel 421, a suspension wheel connecting plate 423, a suspension rocker arm 424, and a suspension side support arm 427. The axle of the paddy wheel 421 is connected to the axis of the suspension wheel connecting plate 423. The upper end of the suspension wheel connecting plate 423 is fixed to the lower end of the electromagnetic spring 425. One side of the suspension rocker arm 424 is fixed to the outer shell side of the electromagnetic spring 425. The upper end of the electromagnetic spring 425 is connected to the lower end of the frame half-bridge 426. The lower end of the suspension side support arm 427 is fixed to the upper end of the suspension rocker arm 424. The upper end of the suspension side support arm 427 is connected to the upper end of the frame half-bridge 426 and slidably disposed. The front end of the suspension rocker arm 424 is connected to one end of the suspension tie rod 422, and the other end of the suspension tie rod 422 is connected to the other end of the suspension connecting rod 415.

[0046] It should be noted that the arrangement of the center of gravity of the suspension development platform being much higher than the center of the paddy field wheel 421 improves the passability of paddy field operations, but requires enhanced roll stiffness design. The upper end of the suspension side support arm 427 is sleeved on the upper end of the frame half axle 426 in order to ensure the roll support stiffness of the suspension development platform with high ground clearance when it is working.

[0047] Furthermore, such as Figure 2 and Figure 7 As shown, a spherical shaft is provided at the front end of the suspension rocker arm 424 and the other end of the suspension connecting rod 415, and spherical holes are provided at both ends of the suspension tie rod 422. The center of the spherical shaft coincides with the center of the spherical hole.

[0048] It should be noted that the ball joint connection at both ends of the suspension tie rod 422 is to eliminate the motion interference between the suspension connecting rod 415 and the suspension device 410 caused by the up-and-down wheel jump change of the paddy field power chassis suspension development platform during travel.

[0049] like Figure 5 and Figure 10 As shown, the measurement and control system unit 430 includes a counterweight stop bar 431, a calibration acceleration sensor 436, a CAN communication module 441, a CAN bus 442, a displacement signal processing module 443, an acceleration signal processing module 444, an electromagnetic spring drive system 445, a calibration acceleration signal processing module 446, an electromagnetic spring encoder 447, and a spring-loaded counterweight 448. One end of the counterweight stop bar 431 is fixed to one side of the base plate 432, and the spring-loaded counterweight 448 is placed on one side of the base plate 432. The side of the counterweight stop bar 431 contacts the spring-loaded counterweight 448, and the calibration acceleration sensor 436 is fixed to one side of the suspension support arm 413.

[0050] It should be noted that the counterweight stop bar 431 is used to fix the sprung counterweight 448 and prevent the sprung counterweight 448 from affecting the test data when it bounces during the operation of the suspension development bench. The calibration acceleration sensor 436 is fixed on the suspension support arm 413 to calibrate the initial acceleration value, ensuring the accuracy and authenticity of the data.

[0051] like Figure 9 and Figure 10 As shown, the suspension development bench detection and control principle is as follows: The displacement sensor 433 is connected to the displacement signal processing module 443, which is connected to the main control unit 435. The acceleration sensor 434 is connected to the acceleration signal processing module 444, which is connected to the main control unit 435. The calibration acceleration sensor 436 is connected to the calibration acceleration signal processing module 446, which is connected to the main control unit 435. The acceleration sensor 434 detects the acceleration signal of the suspension development bench, and the calibration acceleration sensor 436 detects the Earth's gravitational acceleration signal. The suspension development bench acceleration signal and the gravitational acceleration signal are transmitted to the main control unit 435 through the acceleration signal processing module 444 and the calibration acceleration signal processing module 446. The main control unit 435 calculates the suspension development bench acceleration by eliminating acquisition errors using the differential signal method.

[0052] like Figure 9 and Figure 10 As shown, the electromagnetic spring adjustment principle of the suspension development bench is as follows: The electromagnetic spring 425 is connected to the electromagnetic spring encoder 447, the electromagnetic spring encoder 447 is connected to the electromagnetic spring drive system 445, the electromagnetic spring drive system 445 is connected to the electromagnetic spring 425, and the electromagnetic spring drive system 445 is connected to the main control unit 435. The electromagnetic spring encoder 447 calculates the current damping strength of the electromagnetic spring 425 by detecting the difference in magnetic flux inside the electromagnetic spring 425 when it is in different positions. The electromagnetic spring encoder 447 converts the real-time detected current damping strength of the electromagnetic spring 425 into a digital signal and transmits it to the electromagnetic spring drive system 445. The electromagnetic spring drive system 445 transmits the signal to the main control unit 435. The main control unit 435 sends the target damping strength signal to the electromagnetic spring drive system 445, and the electromagnetic spring drive system 445 transmits the target damping strength signal to the electromagnetic spring 425.

[0053] Furthermore, such as Figure 10As shown, the main control unit 435 is connected to the CAN communication module 15, and the CAN communication module 441 is connected to the CAN bus 442, leaving a communication interface for the future active suspension control of the paddy field power chassis.

[0054] The control method for the dynamic chassis suspension development platform device based on field troughs provided by the present invention includes the following steps:

[0055] Step 1: Divide the farmland 500 into n different equidistant test plots according to the degree of flatness and the level of moisture content;

[0056] Step 2: Input the length a and width b of farmland 500 into the measurement and control system unit 430; input the length a1 and width b1 of the n different small plots to be measured of farmland 500 into the measurement and control system unit 430; input the spacing c of the n different small plots to be measured into the measurement and control system unit 430.

[0057] Step 3: When the paddy field wheel 421 moves and the wheel jumps up and down, the displacement sensor 433 detects the wheel jump displacement, converts it into a voltage signal, and feeds it back to the displacement signal processing module 443. The displacement signal processing module 443 converts the voltage signal into a digital signal and transmits it to the main control unit 435.

[0058] Step 4: Accelerometer 434 detects the acceleration α1 of the suspension development bench, and calibrated acceleration sensor 436 detects the acceleration due to gravity α2. α1 and α2 are transmitted to the main control unit 435 through acceleration signal processing module 444 and calibration acceleration signal processing module 446. The main control unit 435 calculates the acceleration α of the suspension development bench by eliminating acquisition errors using the differential signal method.

[0059] Step 5: The spring counterweight 448 simulates the sprung weight borne by the suspension in actual operation and is applied to the electromagnetic spring 425 by a corresponding weight.

[0060] Step 6: The electromagnetic spring encoder 447 calculates the current damping strength β of the electromagnetic spring 425 by detecting the difference in magnetic flux inside the electromagnetic spring 425 when it is in different positions. The electromagnetic spring encoder 447 converts the real-time detected current damping strength β of the electromagnetic spring 425 into a digital signal and transmits it to the electromagnetic spring drive system 445. The electromagnetic spring drive system 445 transmits the signal to the main control unit 435.

[0061] Step 7: The main control unit 435 sends the target damping strength ω signal to the electromagnetic spring drive system 445, and the electromagnetic spring drive system 445 transmits the target damping strength ω signal to the electromagnetic spring 425.

[0062] The steps of the main control unit 435 in detecting the difference ∆ω between the current damping strength β and the target damping strength ω of the electromagnetic spring 425 include:

[0063] The main control unit 435 determines whether ∆ω is within the allowable error range. If ∆ω>2N•s / m, an error is determined and the corresponding error code is output, and the system stops working. If ∆ω≤2N•s / m is within the allowable error range and the electromagnetic spring 425 has no excitation action, the suspension adjustment is completed at this time.

[0064] The control method of the dynamic chassis suspension development platform device based on field soil trough provided by the present invention can locate and divide different test plots through the two-dimensional coordinate system of the traveling trolley and the test trolley. The main control unit detects the unsprung motion stroke of the suspension components and the overall vibration amplitude of the suspension development platform through displacement sensors and acceleration sensors. The main control unit also adjusts the vibration damping of the suspension development platform through electromagnetic springs.

[0065] In summary, this invention provides a solution for the development of agricultural power chassis suspension test benches. It replaces the single road surface excitation simulated by motors in traditional indoor suspension test benches with the full-condition road surface excitation experienced by the suspension under real outdoor farmland conditions. The main control unit detects the electromagnetic spring movement stroke of the suspension components through displacement sensors and detects the overall vibration amplitude of the suspension test bench through acceleration sensors. It further explores the suppression of the overall vibration amplitude of the suspension test bench and the improvement of the quality of farming operations by electromagnetic spring suspension at different damping levels under real outdoor farmland conditions. The optimal electromagnetic spring suspension control method is obtained by dividing different experimental plots using the two-dimensional coordinate system of the traveling trolley and the test trolley.

[0066] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the scope of protection of the present invention.

Claims

1. A development platform for a dynamic chassis suspension based on a field trough, characterized in that, The system includes a walking track (100), a walking trolley (200), a connecting frame (201), a test trolley (300), a hanger (304), a suspension device (410), an upper hook (411), a lower rocker arm (414), a suspension connecting rod (415), a suspension assembly (420), a suspension tie rod (422), an electromagnetic spring (425), a measurement and control system unit (430), a base plate (432), and a main control unit (435). The walking track (100) is fixedly laid on both sides of the farmland (500). On one side, the wheels of the traveling trolley (200) are slidably connected to the traveling track (100), one end of the connecting frame (201) is fixed to one side of the traveling trolley (200), and the other end of the connecting frame (201) is fixed to one side of another traveling trolley (200). The wheels of the test trolley (300) are slidably connected to the connecting frame (201). A suspension tie rod (422) is provided on the suspension assembly (420), and a suspension connecting rod (415) is provided on the suspension device (410). The suspension tie rod (422) is rotatably connected to the suspension connecting rod (415). The suspension device (410) is provided with the upper hook (411) and the lower hook rocker arm (414). The test trolley (300) is provided with the connector (304). The upper hook (411) is fixed to the upper part of one side of the connector (304), and the lower hook rocker arm (414) is fixed to the lower part of one side of the connector (304). The electromagnetic spring (425) of the suspension assembly (420) A displacement sensor (433) is provided below the suspension assembly (420). The measurement and control system unit (430) and the main control unit (435) are located on the base plate (432). A frame half-bridge (426) is provided on the suspension assembly (420). The upper part of the frame half-bridge (426) is fixed to one side of the base plate (432). An acceleration sensor (434) is provided on the frame half-bridge (426). The displacement sensor (433) and the acceleration sensor (434) are connected to the main control unit (435).

2. The dynamic chassis suspension development platform device based on field troughs according to claim 1, characterized in that: The test trolley (300) includes a lifting rod (301), a pull rod (302), an upper pull rod (303), and a test trolley frame (305). One end of the lifting rod (301) is rotatably connected to one end of the test trolley frame (305), one end of the pull rod (302) is rotatably connected to the other end of the test trolley frame (305), the other end of the lifting rod (301) is rotatably connected to the middle of the pull rod (302), one end of the upper pull rod (303) is rotatably connected to the other end of the test trolley frame (305), and the other end of the upper pull rod (303) is rotatably connected to the other side of the connector (304).

3. The dynamic chassis suspension development platform device based on field troughs according to claim 2, characterized in that: The suspension device (410) includes a hook adjustment position (412) and a suspension support arm (413). One end of the upper hook (411) is fixed to the upper part of one side of the hanger (304). The lower hook rocker arm (414) is connected to the lower part of one side of the hanger (304). The other end of the upper hook (411) is sleeved on the hook adjustment position (412) and can slide up and down with the suspension support arm (413). One end of the suspension connecting rod (415) is fixed to one side of the suspension support arm (413).

4. The dynamic chassis suspension development platform device based on field troughs according to claim 1, characterized in that: The suspension assembly (420) includes a paddy wheel (421), a suspension wheel connecting disc (423), a suspension rocker arm (424), and a suspension side support arm (427). The axle of the paddy wheel (421) is rotatably connected to the axis of the suspension wheel connecting disc (423). The upper end of the suspension wheel connecting disc (423) is fixed to the lower end of the electromagnetic spring (425). One side of the suspension rocker arm (424) is fixed to the outer shell side of the electromagnetic spring (425). The upper end of the suspension side support arm (425) is rotatably connected to the lower end of the frame half axle (426), the lower end of the suspension side support arm (427) is fixed to the upper end of the suspension rocker arm (424), the upper end of the suspension side support arm (427) is connected to the upper end of the frame half axle (426) and slidably set, the front end of the suspension rocker arm (424) is rotatably connected to one end of the suspension tie rod (422), and the other end of the suspension tie rod (422) is rotatably connected to the other end of the suspension connecting rod (415).

5. The dynamic chassis suspension development platform device based on field troughs according to claim 4, characterized in that: The front end of the suspension rocker arm (424) and the other end of the suspension connecting rod (415) are provided with spherical shafts, and the two ends of the suspension tie rod (422) are provided with spherical holes, with the center of the spherical shaft coinciding with the center of the spherical hole.

6. The dynamic chassis suspension development platform device based on field troughs according to claim 3, characterized in that: The measurement and control system unit (430) includes a counterweight stop bar (431), a calibration acceleration sensor (436), a CAN communication module (441), a CAN bus (442), a displacement signal processing module (443), an acceleration signal processing module (444), an electromagnetic spring drive system (445), a calibration acceleration signal processing module (446), an electromagnetic spring encoder (447), and a spring-loaded counterweight (448). One end of the counterweight stop bar (431) is fixed to one side of the base plate (432), and the spring-loaded counterweight (448) is placed on one side of the base plate (432). The side of the counterweight stop bar (431) is in contact with the spring-loaded counterweight (448), and the calibration acceleration sensor (436) is fixed to one side of the suspension support arm (413).

7. The dynamic chassis suspension development platform device based on field troughs according to claim 6, characterized in that: The displacement sensor (433) is connected to the displacement signal processing module (443), and the displacement signal processing module (443) is connected to the main control unit (435). The acceleration sensor (434) is connected to the acceleration signal processing module (444), and the acceleration signal processing module (444) is connected to the main control unit (435). The calibration acceleration sensor (436) is connected to the calibration acceleration signal processing module (446), and the calibration acceleration signal processing module (446) is connected to the main control unit (435). 435) is connected, the electromagnetic spring (425) is connected to the electromagnetic spring encoder (447), the electromagnetic spring encoder (447) is connected to the electromagnetic spring drive system (445), the electromagnetic spring drive system (445) is connected to the electromagnetic spring (425), the electromagnetic spring drive system (445) is connected to the main control unit (435), the main control unit (435) is connected to the CAN communication module (441), and the CAN communication module (441) is connected to the CAN bus (442).

8. A control method applied to the dynamic chassis suspension development test platform device based on field troughs as described in claims 1-7, characterized in that: Includes the following steps: Step 1: Divide the farmland (500) into n different equidistant test plots according to the degree of flatness and the level of moisture content; Step 2: Input the length a and width b of the farmland (500) into the measurement and control system unit (430), input the length a1 and width b1 of the farmland (500) into the measurement and control system unit (430) to divide the farmland (500) into n different small plots to be measured, and input the spacing c of the n different small plots to be measured into the measurement and control system unit (430). Step 3: When the paddy field wheel (421) moves and the wheel jumps up and down, the displacement sensor (433) detects the wheel jump displacement, converts it into a voltage signal, and feeds it back to the displacement signal processing module (443). The displacement signal processing module (443) converts the voltage signal into a digital signal and transmits it to the main control unit (435). Step 4: The accelerometer (434) detects the acceleration α1 of the suspension development test bench, and the calibrated accelerometer (436) detects the acceleration α2 due to gravity. α1 and α2 are transmitted to the main control unit (435) through the acceleration signal processing module (444) and the calibrated acceleration signal processing module (446). The main control unit (435) calculates the acceleration α of the suspension development test bench by eliminating the acquisition error through the differential signal method. Step 5: The spring counterweight (448) simulates the spring weight borne by the actual suspension operation and is applied to the electromagnetic spring (425) by a corresponding weight. Step 6: The electromagnetic spring encoder (447) calculates the current damping strength β of the electromagnetic spring (425) by detecting the difference in magnetic flux inside the electromagnetic spring (425) when it is in different positions. The electromagnetic spring encoder (447) converts the real-time detected current damping strength β of the electromagnetic spring (425) into a digital signal and transmits it to the electromagnetic spring drive system (445). The electromagnetic spring drive system (445) transmits the signal to the main control unit (435). Step 7: The main control unit (435) sends the target damping strength ω signal to the electromagnetic spring drive system (445), and the electromagnetic spring drive system (445) transmits the target damping strength ω signal to the electromagnetic spring (425).

9. The control method for the dynamic chassis suspension development platform device based on field troughs according to claim 8, characterized in that: The main control unit (435) detects the difference between the current damping strength β and the target damping strength ω of the electromagnetic spring (425). The steps include: The main control unit (435) determines Is it within the allowable error range? If the value is greater than 2N•s / m, an error is detected, and the corresponding error code is output. The system then stops working. If the value is ≤2N•s / m and is within the allowable error range, and the electromagnetic spring (425) has no excitation action, then the suspension adjustment is complete.

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