An intelligent active coupling low specific pressure anti-sinking and anti-skidding platform for saline-alkali soil and a control method thereof

Abstract

The application discloses a kind of saline-alkali soil intelligent active coupling low specific pressure anti-trap anti-skid platform and control method, and it relates to intelligent agricultural machinery technical field.The platform includes low specific pressure chassis platform assembly, active weight reduction power execution array and oil-electricity hybrid anti-trap control system;Active weight reduction power execution array contains several pneumatic lifting force execution modules, respectively installed in chassis corner area, for generating upward lifting force to reduce ground contact specific pressure.The method senses chassis posture, subsidence depth and slip ratio in real time, discharges direct-current generator and power battery pack in parallel when determining the risk of vehicle sinking, and outputs differential control signal to each pneumatic lifting force execution module to generate asymmetric lifting force.The application effectively prevents saline-alkali soil tracked vehicle from sinking and slipping by active weight reduction and oil-electricity hybrid control, protects tillage layer structure, and has the advantages of anti-trap, energy saving and posture self-adaptation.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural machinery technology, specifically to an intelligent active coupling low-pressure anti-sinking and anti-slip platform and control method for saline-alkali land. Background Technology

[0002] Saline-alkali soils have high clay content and extremely low bearing capacity, making wheeled or tracked agricultural machinery highly susceptible to sinking and slipping during paddy field operations such as tillage, slurry preparation, and rice transplanting. Once sinking occurs, the high-speed slippage of the tracks damages the "plow pan" beneath the topsoil, causing underground salt and moisture to rise and triggering secondary ecological disasters such as "salt return and alkali return," severely impacting operational efficiency and farmland productivity. Currently, common technical measures to address agricultural machinery sinking mainly focus on passively improving the chassis's physical structure, such as widening and lengthening the tracks to reduce ground pressure and using lightweight materials to reduce the overall weight of the machine.

[0003] However, the above solutions have obvious limitations. Excessive weight reduction weakens chassis traction, while infinitely increasing track size is limited by the passage requirements of farm roads and field ridges. More importantly, existing tracked chassis lack an active extrication mechanism when facing soft, muddy pits and on the verge of sinking. They can only rely on the engine to forcefully output torque in an attempt to "scratch" their way out. This passive escape method applies a huge peak shear force to the mudbed, directly tearing the fragile plowshare and exacerbating the sinking. Although some solutions attempt to add auxiliary lift devices such as pneumatic ducts or fans to the outside of the machine, such basic architectures lack system-level integrated design. Traditional agricultural machinery electrical systems are mostly based on low-voltage, small-capacity batteries, which cannot provide the transient peak current required for pneumatic actuators when sinking. At the same time, simple pneumatic auxiliary devices lack intelligent closed-loop control models based on multi-source sensing. When encountering asymmetrical working conditions such as sudden sinking of one track, they cannot adaptively distribute precise differential compensating lift to each corner, which can easily induce vehicle instability or even overturning.

[0004] Therefore, there is an urgent need for an intelligent anti-sinking platform and its control method that can actively generate upward lifting force without weakening traction and can differentially distribute lifting force according to real-time attitude and sinking state, so as to solve the problems of poor passive anti-sinking effect, lack of hybrid power support and inability to achieve differential leveling in the existing technology. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies in the prior art by providing an intelligent active coupling low specific pressure anti-sinking and anti-slip platform and control method for saline-alkali land. The intelligent active coupling low specific pressure anti-sinking and anti-slip platform and control method for saline-alkali land realizes adaptive anti-sinking control that automatically generates differential upward lifting force when the chassis is about to sink, so as to dynamically reduce the ground specific pressure and prevent damage to the plow layer.

[0006] To solve the above problems, the first aspect of the present invention adopts the following technical solution: A smart, actively coupled, low-specific-pressure anti-sinking and anti-slip platform for saline-alkali land includes: The low-pressure chassis platform assembly serves as the underlying load-bearing framework of the entire machine. The active weight-reducing power actuation array includes several pneumatic lift actuation modules, which are respectively installed in the corner areas of the low-pressure chassis platform assembly to generate upward lifting force to reduce the ground pressure. The hybrid electric anti-sinking control system is fixed on the low-pressure chassis platform assembly and electrically connected to both the low-pressure chassis platform assembly and the active weight-reducing power actuation array. The hybrid electric anti-sinking control system is configured to: based on the real-time sensed chassis attitude, sinking depth of each corner area, and slip ratio, when a risk of getting stuck is determined, schedule the DC generator and the power battery pack to discharge in parallel, and output differential control signals to the pneumatic lift actuation modules to generate asymmetrical lifting force.

[0007] Furthermore, the low-pressure chassis platform assembly includes a chassis frame assembly, symmetrically arranged rubber track walking units, a diesel tank, a hydraulic assembly, a PTO gearbox, a hydraulic three-point suspension device, a diesel engine, and a chassis walking gearbox; the front end of the diesel engine is connected to a DC generator, and the rear end is connected to the chassis walking gearbox and the PTO gearbox respectively.

[0008] Furthermore, each of the aforementioned pneumatic lift actuation modules includes: The aerodynamic lift unit has a cylindrical flow guide shell and a drive motor and propeller blades housed inside it; A height adjustment device is fixedly connected to the pneumatic lifting unit and is used to install the pneumatic lifting unit on the low-pressure chassis platform assembly and adjust its vertical height. An electronic speed controller is located on one side of the height adjustment device and is electrically connected to the drive motor. It is used to receive control signals and adjust the speed of the drive motor.

[0009] Furthermore, the top edge of the flow guide housing extends outward to form an air intake lip; a small aerodynamic gap is left between the blade tip of the propeller blade and the inner wall of the flow guide housing to prevent overflow.

[0010] Furthermore, the height adjustment device includes an inner column, an outer column, a locking pin assembly, and a U-bolt fastening assembly; the inner column is slidably inserted into the outer column, and the outer column and the inner column are provided with through positioning holes along the vertical direction; the pin of the locking pin assembly is inserted laterally into the overlapping positioning holes to lock the height.

[0011] Furthermore, the hybrid electric vehicle anti-sinking control system includes a power battery pack, a DC generator, and an integrated control system, which are respectively mounted on the chassis frame assembly; the hybrid electric vehicle anti-sinking control system also includes several distance sensors and an inertial measurement unit, the several distance sensors are respectively mounted in the corner areas of the chassis frame assembly, and the inertial measurement unit is mounted at the center of gravity of the chassis frame assembly.

[0012] Furthermore, the power output terminal of the DC generator and the power output terminal of the power battery pack are connected in parallel to a common DC bus, and the output terminal of the common DC bus is respectively connected to the power input terminal of each of the electronic speed controllers; the communication interface of the integrated control system is connected to the control terminal of the DC generator and the management system communication terminal of the power battery pack through a CAN bus.

[0013] Furthermore, the data output terminals of the ranging sensor and the inertial measurement unit are respectively connected to the input terminal of the integrated control system; the output shaft encoder of the chassis travel gearbox and the external positioning terminal are respectively connected to the input terminal of the integrated control system; the output terminal of the integrated control system is provided with PWM signal pins, which are respectively connected to the signal input terminals of each of the electronic speed controllers.

[0014] Furthermore, the integrated control system has a built-in model prediction control unit. The model prediction control unit is based on the chassis multi-degree-of-freedom discrete state space model. According to the ground clearance deviation at the four corners, the attitude angle and the slip rate, it outputs the PWM duty cycle signal corresponding to each of the electronic speed controllers, and drives each of the drive motors to generate differential lifting force.

[0015] The second aspect of this invention also discloses a control method for an intelligent active coupling low specific pressure anti-sinking and anti-slip platform for saline-alkali land, comprising the following steps: S1, collect the ground clearance, vehicle attitude angle and track slip rate of each corner area of ​​the chassis in real time; S2, compare the collected data with the preset safety threshold to determine whether there is a risk of getting stuck. S3, when it is determined that there is a risk of the vehicle getting stuck, control the DC generator to discharge in parallel with the power battery pack to preload the bus power; S4. Based on the ground clearance deviation of each corner area, the model predictive control algorithm is used to calculate the target lifting force distribution of each aerodynamic lift actuator. S5 converts the target lifting force into a PWM duty cycle signal, which drives the drive motors of each aerodynamic lift execution module to generate differential vertical lifting force. S6. Real-time closed-loop monitoring of vehicle status. If safety is not restored, return to step S4; if safety has been restored, proceed to step S7. S7 controls the PWM duty cycle of each drive motor to decrease linearly until it stops, restoring the normal operating mode.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention breaks away from the traditional approach of passively reducing ground pressure by widening tracks. By incorporating independent pneumatic lift modules at each corner of the chassis, it actively generates upward lifting force, significantly reducing the effective ground pressure of the entire machine and thus drastically decreasing the track sinking depth. This active weight-reduction mechanism generates compensatory lift before the risk of getting stuck occurs, preventing shear damage to the fragile plowshare of saline-alkali soil when the tracks passively "scrape" their way out of mud. It fundamentally prevents deep sinking, slippage, and secondary salinization disasters.

[0017] In this invention, the outward-extending air intake lips formed by the top edge of each guide shell smoothly guide still air into the wall, expanding the effective intake cross-sectional area. Utilizing the ground effect, a high-pressure air cushion is formed between the guide shell and the ground, significantly improving lift without increasing power consumption. Simultaneously, the minute aerodynamic gap between the propeller blade tip and the inner wall of the guide shell effectively prevents high-pressure airflow from overflowing from the blade tip area to the low-pressure area, generating additional pull on the inner wall of the guide shell using the pressure difference, further improving lift efficiency. Furthermore, the rigid guide shell acts as a physical barrier, effectively blocking mud splash and protecting the high-speed rotating blades from impact damage.

[0018] This invention employs a power split architecture of "rear-end mechanical movement, front-end electrical anti-sinking," where the diesel engine drives a DC generator at the front and the chassis's walking gearbox and PTO gearbox at the rear. In anti-sinking mode, the DC generator and the power battery pack's output terminals are connected in parallel to a common DC bus. Transient parallel discharge is achieved through CAN bus scheduling, ensuring that the total bus power meets the instantaneous power requirements of each drive motor. This hybrid oil-electric output strategy guarantees continuous track traction, provides extreme transient burst power for active weight reduction, and avoids the risk of diesel engine stalling due to anti-sinking load removal.

[0019] This invention utilizes an inertial measurement unit installed at the center of gravity of the chassis frame assembly to detect triaxial acceleration and angular velocity in real time, calculating the vehicle's pitch and roll angles. Distance sensors in each corner area detect the ground clearance in real time, calculating the sinking depth deviation. Based on this data, the integrated control system outputs PWM duty cycle signals corresponding to each electronic speed controller, driving each drive motor to generate differential lifting force and quickly reverse the chassis tilt. This layout maximizes the anti-sinking arm, achieving efficient leveling of the heavy-duty vehicle body and avoiding the attitude instability problems easily induced by traditional open-loop auxiliary devices during asymmetric sinking.

[0020] This invention abandons traditional PID passive feedback control and adopts a Model Predictive Control (MPC) algorithm based on discrete state-space equations. This algorithm constructs a multi-degree-of-freedom discrete state-space model of the chassis in an embedded motherboard, solves a finite-time optimization problem in each control cycle, and calculates the target lifting force distribution in each corner area that can most quickly correct vehicle tilt while minimizing total energy consumption, under the conditions of satisfying total electrical load constraints and actuator physical limits. The MPC algorithm has predictive capabilities, strictly controlling the sinking depth above the critical threshold for plowshare shear failure, while strictly limiting the bus electrical load within safe boundaries, significantly reducing transient peak energy consumption and achieving energy-saving effects through peak shaving and valley filling. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the intelligent active coupling low specific pressure anti-sinking and anti-slip platform for saline-alkali land of the present invention; Figure 2 This is a schematic diagram of a portion of the intelligent active coupling low specific pressure anti-sinking and anti-slip platform for saline-alkali land of the present invention; Figure 3 This is a schematic diagram of the pneumatic lifting actuator module of the intelligent active coupling low specific pressure anti-sinking and anti-slip platform for saline-alkali land of the present invention; Figure 4 This is a three-dimensional cross-sectional view of the aerodynamic lifting unit of the intelligent active coupling low specific pressure anti-sinking and anti-slip platform for saline-alkali land of the present invention; Figure 5 This is a schematic diagram of the height adjustment device for the intelligent active coupling low specific pressure anti-sinking and anti-slip platform in saline-alkali land according to the present invention; Figure 6 This is a schematic diagram of the component distribution of the oil-electric hybrid anti-sinking control system for the intelligent active coupling low specific pressure anti-sinking and anti-slip platform in saline-alkali land of the present invention; Figure 7 This is a schematic diagram of the installation of the inertial measurement unit of the intelligent active coupling low specific pressure anti-sinking and anti-slip platform for saline-alkali land of the present invention; Figure 8 This is a power block diagram of the intelligent active coupling low specific pressure anti-sinking and anti-slip platform oil-electric hybrid system for saline-alkali land of the present invention; Figure 9 This is a communication block diagram of the integrated control system for the intelligent active coupling low specific pressure anti-sinking and anti-slip platform in saline-alkali land of the present invention; Figure 10 This is a flowchart of the control method for the intelligent active coupling low specific pressure anti-sinking and anti-slip platform for saline-alkali land according to the present invention.

[0022] In the diagram: 100 - Low-pressure chassis platform assembly; 110 - Chassis frame assembly; 120 - Rubber track running gear unit; 130 - Diesel tank; 140 - Hydraulic components; 150 - PTO gearbox; 160 - Hydraulic three-point suspension device; 170 - Diesel engine; 180 - Chassis running gearbox; 200 - Active weight reduction power actuator array; 210 - Pneumatic lift unit; 211 - Guide housing; 212 - External mounting base; 213 - Reinforcing rib; 214 - Motor mounting bracket; 215-Drive motor; 216-Propeller blade; 220-Height adjustment device; 221-Inner column; 222-Outer column; 223-Locking pin assembly; 224-U-bolt fastening assembly; 230-Electronic speed controller; 240-Bolt fastening assembly; 300-Hybrid anti-sinking control system; 310-Power battery pack; 320-Distance sensor; 330-DC generator; 340-Integrated control system; 350-Inertial measurement unit. Detailed Implementation

[0023] The technical solutions of the invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without creative effort are within the scope of the invention.

[0024] In the description of this invention, it should be noted that the terms "above" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience and simplification of the description and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection," "setting," "installation," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] like Figure 1As shown, the first aspect of the present invention discloses an intelligent active coupling low specific pressure anti-sinking and anti-slip platform for saline-alkali land, including a low specific pressure chassis platform assembly 100, an active weight reduction power execution array 200, and an oil-electric hybrid anti-sinking control system 300.

[0028] The low-pressure chassis platform assembly 100 extends longitudinally and laterally along the body, forming the underlying load-bearing skeleton of the entire machine. The active weight-reduction power actuator array 200 includes several pneumatic lift actuator modules, which are respectively installed in the four corner areas of the low-pressure chassis platform assembly 100 to generate an upward lifting force to reduce the effective ground pressure of the entire machine to the ground. The hybrid oil-electric anti-sinking control system 300 is fixed to the low-pressure chassis platform assembly 100 and is electrically connected to both the low-pressure chassis platform assembly 100 and the active weight-reduction power actuator array 200.

[0029] In soft soils such as saline-alkali land, the ground contact pressure σ of a tracked vehicle is defined as the total weight W divided by the track contact area A, i.e. When the ground pressure exceeds the soil bearing capacity, the tracks will sink. The sinking depth d can be approximated using the Bekker soil mechanics model. ; in, d is the depth of the depression; k is the equivalent soil modulus parameter (calibrated according to the characteristics of saline-alkali soil). n is an empirical coefficient for soil (typical of saline-alkali mud). ); Grounding voltage; This invention actively generates an upward lifting force through four pneumatic lift actuators in the active weight-reduction power actuator array 200. This makes the effective grounding specific voltage Reduced to: ; in, W represents the total weight of the machine; The total upward lifting force generated by the four pneumatic lift actuators; A represents the track ground contact area; Based on the aforementioned relationship between grounding specific voltage and subsidence depth, as Increase the effective grounding specific voltage Reduce, thus decrease the depth of the depression Significantly reduces the physical impact of tracks cutting through the fragile "plow layer" of saline-alkali land.

[0030] The hybrid electric anti-sinking control system 300 is configured to: based on the real-time sensing of the chassis attitude, the sinking depth and slip rate of the four corner areas, when it is determined that there is a risk of the vehicle getting stuck, dispatch the DC generator and the power battery pack to discharge in parallel, and output differential control signals to the pneumatic lift actuators, so that each pneumatic lift actuator generates an asymmetrical lifting force to achieve active anti-sinking and attitude leveling.

[0031] The aforementioned low-pressure chassis platform assembly 100, active weight reduction power actuation array 200, and hybrid oil-electric anti-sinking control system 300 are physically coupled and electrically communicated to form a complete active anti-sinking closed-loop network.

[0032] Furthermore, such as Figure 2 As shown, the low-pressure chassis platform assembly 100 includes a chassis frame assembly 110, symmetrically arranged rubber track running units 120, a diesel tank 130, a hydraulic assembly 140, a PTO gearbox 150, a hydraulic three-point suspension device 160, a diesel engine 170, and a chassis running gearbox 180.

[0033] The chassis frame assembly 110 is welded from high-strength steel and forms the bottom load-bearing skeleton of the entire vehicle; the rubber track walking unit 120 is symmetrically installed on the left and right sides of the chassis frame assembly 110; the diesel tank 130 is fixed above the chassis frame assembly 110 and has a metal anti-surge baffle inside. Its bottom oil outlet is connected to the oil inlet of the diesel engine 170 at the rear through an oil pipeline; the diesel engine 170 is bolted to the upper middle part of the chassis frame assembly 110 through rubber shock absorber brackets.

[0034] The diesel engine 170 adopts a front-to-rear dual-end power split architecture: its rear end is connected to the chassis travel gearbox 180 and the PTO gearbox 150 via belt drives. The output shafts on both sides of the chassis travel gearbox 180 are connected to the drive wheels of the left and right rubber track travel units 120, respectively, driving the vehicle. The rear power output end of the PTO gearbox 150 is connected to externally mounted agricultural implements, providing power to the implements. The oil outlet of the hydraulic assembly 140 is connected to the lifting cylinder of the hydraulic three-point suspension device 160 via hydraulic lines, enabling the lifting and lowering of the rear-mounted implements. The oil outlet of the diesel tank 130 is connected to the oil inlet of the diesel engine 170, providing fuel.

[0035] The power balance relationship of the 170 diesel engine with dual-end power split architecture is as follows: ; in, The total output power of the diesel engine is 170. The power consumed for track movement; Output power of agricultural implements; This refers to the electrical power output by the DC generator. The hybrid oil-electric output strategy adopts a decoupled architecture of "back-end mechanical walking and front-end electrical anti-sinking". This formula shows that the engine power is reasonably distributed to the three parts of walking, operation and power generation without interference, ensuring that the generator can independently provide power in anti-sinking mode.

[0036] In this embodiment, as Figure 3 As shown, several pneumatic lift actuators each include: a pneumatic lift unit 210, a height adjustment device 220, an electronic speed controller 230, and a bolt fastening assembly 240. The pneumatic lift unit 210 and the height adjustment device 220 are rigidly connected via the bolt fastening assembly 240, and the electronic speed controller 230 is fixed to the outer side wall of the height adjustment device 220. The pneumatic lift unit 210 has a cylindrical guide housing 211 and a drive motor 215 and propeller blades 216 housed inside the guide housing 211. The pneumatic lift unit 210 is used to spray air downwards to generate an upward anti-sinking lifting force; the height adjustment device 220 is used to mount the pneumatic lift unit 210 onto the low-pressure chassis platform assembly 100 and adjust its vertical height; the electronic speed controller 230 is electrically connected to the drive motor 215 and is used to receive control signals and adjust the speed of the drive motor 215, thereby controlling the magnitude of the lifting force.

[0037] When the drive motor 215 drives the propeller blades 216 to rotate at high speed, the propeller blades 216 draw in air from above the guide housing and accelerate it downwards, causing the air to generate an upward reaction force on the propeller blades 216. This force is transmitted to the chassis frame assembly 110 through the guide housing 211 and the height adjustment device 220, thereby forming an upward lifting force and reducing the effective ground pressure of the entire machine. The electronic speed controller 230 precisely controls the motor speed by adjusting the frequency of the three-phase AC power supplied to the drive motor 215. The higher the speed, the greater the airflow speed and lifting force generated.

[0038] Furthermore, such as Figure 4 As shown, the aerodynamic lift unit 210 also includes an external mounting base 212, a reinforcing rib 213, and a motor mounting base 214. The external mounting base 212 is welded to the outer wall of the guide housing 211, and a reinforcing rib 213 is welded between the external mounting base 212 and the guide housing 211 to improve structural strength. The motor mounting base 214 is fixedly welded to the inside of the guide housing 211, and the drive motor 215 is vertically mounted on the motor mounting base 214. In addition, the top edge of the guide housing 211 extends outward to form an air intake lip; a small aerodynamic gap is left between the blade tip of the propeller blade 216 and the inner wall of the guide housing 211 to prevent overflow.

[0039] As the propeller blades 216 rotate, air is drawn in from above the guide housing. The outward-extending guide lip at the top allows the airflow to smoothly enter the housing along the smooth curved surface, avoiding airflow separation and vortex losses caused by right-angled edges, and increasing the effective intake cross-sectional area. At the same time, the airflow flows close to the inner wall of the guide housing, forming a high-pressure air cushion (i.e., "ground effect") between the guide housing 211 and the ground. This air cushion generates an additional upward lifting force, significantly improving the pull-in force without significantly increasing the motor power consumption.

[0040] The minute aerodynamic gap maintained between the blade tip of the propeller blade 216 and the inner wall of the guide housing 211 effectively prevents high-pressure airflow from "overflowing" from the blade tip area to the low-pressure area. The flow resistance generated by this gap forces the airflow to flow mainly axially downwards, reducing pressure energy dissipation and thus improving efficiency. According to fluid mechanics, the minute blade tip gap can utilize the pressure difference to generate additional pulling force on the inner wall of the guide housing, significantly improving the overall lift coefficient. If the gap is too large, a large amount of high-pressure airflow will overflow, and the lift will drop sharply; if the gap is too small, friction between the blade tip and the housing may occur. The minute aerodynamic gap design of this invention achieves optimal anti-overflow effect while ensuring safe operation.

[0041] Furthermore, such as Figure 5 As shown, the height adjustment device 220 includes an inner column 221, an outer column 222, a locking pin assembly 223, and a U-bolt fastening assembly 224. The outer column 222 is a rectangular hollow steel tube structure with a horizontal mounting flange welded to its bottom. It is rigidly locked to the longitudinal beam of the chassis frame assembly 110 by the U-bolt fastening assembly 224. The electronic speed controller 230 is fixed to the side wall of the outer column 222. The inner column 221 is a rectangular hollow tube with a slightly smaller outer diameter, slidably inserted into the outer column 222, with a pre-existing linear sliding clearance tolerance between them. Through-hole positioning holes are vertically arrayed on both the outer column 222 and the inner column 221. The pin of the locking pin assembly 223 passes laterally into the overlapping positioning holes to lock the height.

[0042] When adjusting the vertical height of the pneumatic lift unit 210 relative to the chassis frame assembly 110, loosen the locking pin assembly 223. The inner column 221 can then slide freely vertically within the outer column 222, thereby changing the extension height of the pneumatic lift unit 210. After adjusting to the target position, align the corresponding positioning holes of the inner and outer columns, insert the pin of the locking pin assembly 223, and lock it in place. This adjustment function allows for optimization of the relative position between the guide shell and the ground based on mud depth, crop height, or different operational requirements: when the chassis sinks close to the mud surface, the pneumatic lift unit can be adjusted upwards to avoid shoveling mud or interference; in hard ground or shallow mud areas, it can be adjusted downwards to bring the pneumatic lift unit closer to the ground, enhancing the ground effect and increasing the pull-out force. The flexible ground clearance adjustment balances anti-sinking performance and passability under different working conditions.

[0043] In this embodiment, as Figure 6 and Figure 7 As shown, the hybrid electric anti-sinking control system 300 includes a power battery pack 310, a DC generator 330, and an integrated control system 340, all mounted on the chassis frame assembly 110. The front end of the diesel engine 170 is flexibly connected to the DC generator 330 via a main drive pulley, converting some of the mechanical power into electrical energy. The hybrid electric anti-sinking control system 300 also includes several distance sensors 320 and an inertial measurement unit 350. The four distance sensors 320 are respectively mounted in the corner areas of the chassis frame assembly 110, with the physical detection surfaces of each distance sensor 320 facing downwards, for detecting real-time ground clearance. The inertial measurement unit 350 is mounted on the frame surface at the center of gravity of the chassis frame assembly 110 to ensure that the coordinate system of its internal gyroscope coincides with the frame coordinate system, for detecting three-axis acceleration and angular velocity, and eliminating lever errors caused by offset.

[0044] The ranging sensor 320 preferably employs millimeter-wave radar or an industrial-grade ultrasonic sensor, measuring ground clearance based on the Time-of-Flight (ToF) method. The real-time ground clearance measured by the i-th sensor... The calculation formula is: ; in, This represents the ground clearance corresponding to the i-th sensor; The speed at which electromagnetic waves or sound waves propagate. This refers to the round-trip time of the signal. After the raw data is processed by 5-point median filtering (to remove impulse noise such as mud splash) and first-order low-pass filtering (cutoff frequency 10Hz), a stable ground clearance value is obtained. (i=1,2,3,4), and the final filtered data error is controlled within ±5mm.

[0045] The inertial measurement unit 350 outputs triaxial acceleration in real time. , , and triaxial angular velocity , , Vehicle attitude angle ( , The gravity vector method is used for solution: ; in, The pitch angle, This refers to the roll angle; It is the arctangent function; Attitude calculation employs complementary filtering or extended Kalman filtering (EKF) to fuse accelerometer and gyroscope data, resulting in an attitude angle error of less than ±0.5° after fusion.

[0046] Furthermore, such as Figure 8 As shown, the power output terminal of the DC generator 330 and the power output terminal of the power battery pack 310 are connected in parallel to the DC common bus (DC Bus). The output terminal of the DC common bus is connected to the power input terminal of each electronic speed controller 230. The communication interface of the integrated control system 340 is connected to the control terminal of the DC generator 330 and the management system communication terminal of the power battery pack 310 through the CAN bus.

[0047] In normal operating mode, the DC generator 330 primarily charges the power battery pack 310, maintaining the battery's state of charge between 70% and 90%. In anti-trapping mode, the integrated control system 340 sends a high-voltage relay closing command to the power battery pack 310 via the CAN bus, releasing the battery pack's maximum discharge rate limit; simultaneously, it sends a command to the DC generator 330 controller to maximize the excitation duty cycle, enabling the DC generator 330 and power battery pack 310 to discharge in parallel, ensuring the total bus power meets the instantaneous power requirements of the four drive motors 215. The total bus power balance is as follows: ; in, This represents the total power of the DC common bus. This refers to the output power of the DC generator 330; This refers to the output power of the 310 power battery pack; This represents the electrical power consumed by the i-th drive motor 215; and It also monitors the SOC and discharge rate in real time through the battery management system to avoid over-discharge.

[0048] in, This is the DC bus voltage; This is the battery discharge current; This parallel discharge strategy ensures continuous track traction while providing extreme transient burst power for active weight reduction.

[0049] Furthermore, such as Figure 9 As shown, the data output terminals of the ranging sensor 320 and the inertial measurement unit 350 are respectively connected to the input terminals of the integrated control system 340; the output shaft encoder and external positioning terminal of the chassis travel gearbox 180 are respectively connected to the input terminals of the integrated control system 340; the output terminal of the integrated control system 340 is provided with PWM signal pins, which are respectively connected to the signal input terminals of each electronic speed controller 230.

[0050] The integrated control system 340 calculates the theoretical linear velocity of the drive wheel based on the output shaft encoder pulse signal. The actual driving linear speed is obtained based on feedback from the external positioning terminal. Real-time calculation of track slip ratio : ; in, λ is the slip ratio; when If the risk of slippage is continuously exceeded by a preset danger threshold, the system determines that there is a risk of slippage.

[0051] Furthermore, the integrated control system 340 has a built-in model prediction control unit. The model prediction control unit is based on the chassis multi-degree-of-freedom discrete state space model. According to the ground clearance deviation of the four corners, the attitude angle and the slip rate, it outputs the PWM duty cycle signal corresponding to each electronic speed controller 230, and drives each drive motor 215 to generate differential lifting force.

[0052] First, define the ground clearance deviation for the four corner regions. : ; in, A positive value indicates that the depth of the sinking at that corner exceeds the safety margin; the larger the positive value, the more severe the sinking. This is the safe ground clearance threshold; To predict the dynamic response of the chassis, a multi-degree-of-freedom discrete state-space model of the chassis is constructed in the integrated control system 340: ; in, State vector These represent the vertical displacement of the chassis center of gravity, vertical velocity, pitch angle, pitch rate, roll angle, and roll rate, respectively. Control input vector The target vertical lifting force generated by the lifting units at the four corners; Predicted output vector These correspond to the corner depression clearance deviation and the vehicle's pitch and roll attitude angles, respectively. These are the discretized system state matrix, control input matrix, and system output observation matrix, respectively.

[0053] Within each control cycle, using model predictive control (MPC) as the core, solve the following finite-time optimization problem: ; in, For prediction in the time domain; To control the time domain; The expected output; and These are the weighted Euclidean norms; To control the increment; The constraints of this optimization problem include total electrical load constraints (i.e., the aforementioned bus power balance type) and actuator physical limits ( Under the constraints of [the above conditions], by solving this problem, we obtain the target lifting force distribution at the four corners that restores the vehicle's attitude to a horizontal position and optimizes total energy consumption. , , , .

[0054] Because the aerodynamic thrust generated by the drive motor 215 has a non-linear relationship with the motor speed, it is necessary to increase the target lifting force. The inverse solution is the PWM duty cycle. Based on air momentum theory and taking into account the physical gains of the small aerodynamic gaps and guide lip structure, the inverse equation is: ; in, The target PWM duty cycle; This refers to the overall drive coefficient of the electronic control system. An efficiency correction factor characterizing the anti-overflow effect at the propeller blade tip; The thrust coefficient after taking into account the gain of the top intake guide lip; Ambient air density; This refers to the effective swept area inside the guide housing, and this area symbol is different from the aforementioned track ground contact area. ; The integrated control system 340 uses a timer peripheral to calculate the duty cycle. High-frequency PWM waveforms are generated synchronously to drive four drive motors 215 to operate at high speeds at asymmetrical speeds, generating precise differential vertical lift.

[0055] like Figure 10 As shown, the second aspect of the present invention also discloses a control method for an intelligent active coupling low specific pressure anti-sinking and anti-slip platform for saline-alkali land, comprising the following steps: S1, Environment and Attitude Perception: After the system powers on and completes initialization, it uses I... 2 The C / SPI bus reads the raw triaxial acceleration output from the inertial measurement unit 350. , , The system simultaneously reads the raw distance values ​​from four ranging sensors 320 via ADC or serial port, along with angular velocity data; and receives the actual linear velocity feedback from an external high-precision positioning terminal in real time via serial port or CAN bus. The system utilizes a quadrature encoder interface to acquire real-time encoder pulse signals from the 180° output shaft of the chassis's gearbox, and then calculates the theoretical linear velocity of the drive wheel. The original data was filtered to obtain the ground clearance of the four corner areas. , , , ), attitude angle (θ, and track slip ratio .

[0056] S2, Over-limit safety determination: The filtered value is compared with a pre-calibrated safety threshold; the safe ground clearance threshold is denoted as... The safe attitude angle threshold is denoted as ( , If both conditions are met Attitude angle (θ, (Not exceeding the limit and slip ratio) If the system is within a safe range, it remains in sleep mode and returns to step S1; if any... or real-time slip ratio If the slippage danger threshold is exceeded for 200ms continuously, such as 20%, or the attitude angle (θ, If the safety threshold is exceeded, the system determines that the chassis is at risk of severe subsidence or about to break up the plow layer, and immediately activates the active anti-subsidence subroutine, proceeding to step S3.

[0057] S3, Energy Feedforward Preload: The high-voltage relay closing command is sent to the power battery pack 310 via the CAN bus to release the maximum discharge rate limit of the battery pack; at the same time, the excitation duty cycle maximization command is sent to the DC generator 330 controller to utilize the parallel physical characteristics of the DC common bus to rapidly increase the bus power to the rated burst limit, providing transient energy support for subsequent high-power differential lifting.

[0058] S4, Differential thrust calculation: First, calculate the ground clearance deviation for the four corner areas using the aforementioned ground clearance deviation formula. Then, based on the chassis's multi-degree-of-freedom discrete state-space model, a model predictive control algorithm is used to solve the finite-time optimization problem. Under the conditions of satisfying the total electrical load constraint and the actuator's physical limits, the target lifting force distribution at the four corners that restores the vehicle's attitude to level and optimizes total energy consumption is calculated. , , , .

[0059] S5, pneumatic inverse kinematics and PWM instruction execution: The target lifting force calculated in step S4 Substituting into the inverse fluid dynamics equations, the target PWM duty cycle corresponding to each drive motor 215 is calculated. The integrated control system 340 uses a timer peripheral to... High-frequency PWM waveforms are generated synchronously and output to each electronic speed controller 230 to drive four drive motors 215 to operate at asymmetrical speeds, generating differential vertical lifting force to quickly correct chassis tilt.

[0060] S6, Closed-loop state verification: Return to the sensor sampling and attitude calculation, and compare the real-time data with the safety threshold. If the attitude angle, descent depth or slip rate still does not meet the safety threshold, jump to step S4, substitute the latest deviation and resolve the MPC optimization problem to achieve real-time closed-loop correction. If it has been completely restored to the horizontal safe state, proceed to step S7.

[0061] S7, Smooth Stop and Resume: PWM duty cycle of each drive motor 215 The platform lands smoothly by decreasing at a linear slope of 5% to 15% per second. After the motor stops, it sends a hibernation message to the power battery pack 310 and DC generator 330 via the CAN bus to resume normal mechanical operation.

[0062] The control method of the intelligent active coupling low specific pressure anti-sinking and anti-skid platform for saline-alkali land of the present invention has the advantages of active weight reduction, energy saving and high efficiency, and stable attitude. It forms a complete closed-loop control strategy of perception-modeling-optimization-execution-feedback, realizing active anti-sinking, attitude leveling and plowing layer protection for tracked vehicles in complex terrain of saline-alkali land.

[0063] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A smart, actively coupled, low-specific-pressure anti-sinking and anti-slip platform for saline-alkali land, characterized in that, include: The low-pressure chassis platform assembly serves as the underlying load-bearing framework of the entire machine. The active weight-reducing power actuation array includes several pneumatic lift actuation modules, which are respectively installed in the corner areas of the low-pressure chassis platform assembly to generate upward lifting force to reduce the ground pressure. The hybrid electric anti-sinking control system is fixed on the low-pressure chassis platform assembly and electrically connected to both the low-pressure chassis platform assembly and the active weight-reducing power actuation array. The hybrid electric anti-sinking control system is configured to: based on the real-time sensed chassis attitude, sinking depth of each corner area, and slip ratio, when a risk of getting stuck is determined, schedule the DC generator and the power battery pack to discharge in parallel, and output differential control signals to the pneumatic lift actuation modules to generate asymmetrical lifting force.

2. The intelligent active coupling low-pressure anti-sinking and anti-slip platform for saline-alkali land according to claim 1, characterized in that, The low-pressure chassis platform assembly includes a chassis frame assembly, symmetrically arranged rubber track walking units, a diesel tank, hydraulic components, a PTO gearbox, a hydraulic three-point suspension device, a diesel engine, and a chassis walking gearbox; the front end of the diesel engine is connected to a DC generator, and the rear end is connected to the chassis walking gearbox and the PTO gearbox respectively.

3. The intelligent active coupling low-pressure anti-sinking and anti-slip platform for saline-alkali land according to claim 2, characterized in that, Each of the aforementioned pneumatic lift actuator modules includes: The aerodynamic lift unit has a cylindrical flow guide shell and a drive motor and propeller blades housed inside it; A height adjustment device is fixedly connected to the pneumatic lifting unit and is used to install the pneumatic lifting unit on the low-pressure chassis platform assembly and adjust its vertical height. An electronic speed controller is installed on the outer side wall of the height adjustment device and is electrically connected to the drive motor. It is used to receive control signals and adjust the speed of the drive motor.

4. The intelligent active coupling low-pressure anti-sinking and anti-slip platform for saline-alkali land according to claim 3, characterized in that, The top edge of the flow guide housing extends outward to form an air intake lip; a small aerodynamic gap is left between the blade tip of the propeller and the inner wall of the flow guide housing to prevent overflow.

5. The intelligent active coupling low-pressure anti-sinking and anti-slip platform for saline-alkali land according to claim 3, characterized in that, The height adjustment device includes an inner column, an outer column, a locking pin assembly, and a U-bolt fastening assembly; the inner column is slidably inserted into the outer column, and the outer column and the inner column are provided with through positioning holes along the vertical direction; the pin shaft of the locking pin assembly is inserted laterally into the overlapping positioning holes to lock the height.

6. The intelligent active coupling low-pressure anti-sinking and anti-slip platform for saline-alkali land according to claim 4 or 5, characterized in that, The hybrid electric vehicle anti-sinking control system includes a power battery pack, a DC generator, and an integrated control system, which are respectively mounted on the chassis frame assembly. The hybrid electric vehicle anti-sinking control system also includes several ranging sensors and an inertial measurement unit. The ranging sensors are respectively mounted in the corner areas of the chassis frame assembly, and the inertial measurement unit is mounted on the frame surface at the center of gravity of the chassis frame assembly.

7. The intelligent active coupling low-pressure anti-sinking and anti-slip platform for saline-alkali land according to claim 6, characterized in that, The power output terminal of the DC generator and the power output terminal of the power battery pack are connected in parallel to the DC common bus. The output terminal of the DC common bus is connected to the power input terminal of each of the electronic speed controllers. The communication interface of the integrated control system is connected to the control terminal of the DC generator and the management system communication terminal of the power battery pack through the CAN bus.

8. The intelligent active coupling low-pressure anti-sinking and anti-slip platform for saline-alkali land according to claim 6, characterized in that, The data output terminals of the ranging sensor and the inertial measurement unit are respectively connected to the input terminal of the integrated control system; the output shaft encoder of the chassis travel gearbox and the external positioning terminal are respectively connected to the input terminal of the integrated control system; the output terminal of the integrated control system is provided with PWM signal pins, which are respectively connected to the signal input terminals of each of the electronic speed controllers.

9. The intelligent active coupling low-pressure anti-sinking and anti-slip platform for saline-alkali land according to claim 8, characterized in that, The integrated control system has a built-in model prediction control unit. The model prediction control unit is based on the chassis multi-degree-of-freedom discrete state space model. According to the ground clearance deviation at the four corners, attitude angle and slip rate, it outputs PWM duty cycle signals corresponding to each of the electronic speed controllers, and drives each of the drive motors to generate differential lifting force.

10. A control method for a smart, actively coupled, low-specific-pressure anti-sinking and anti-slip platform for saline-alkali land as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1, real-time data collection of ground clearance, vehicle attitude angle and track slip rate in various corner areas of the chassis; S2, compare the collected data with the preset safety threshold to determine whether there is a risk of the vehicle getting stuck; S3, when it is determined that there is a risk of the vehicle getting stuck, control the DC generator to discharge in parallel with the power battery pack to preload the bus power; S4. Based on the ground clearance deviation of each corner area, the model predictive control algorithm is used to calculate the target lifting force distribution of each aerodynamic lift actuator. S5 converts the target lifting force into a PWM duty cycle signal, which drives the drive motors of each aerodynamic lift execution module to generate differential vertical lifting force. S6. Real-time closed-loop monitoring of vehicle status. If safety is not restored, return to step S4; if safety has been restored, proceed to step S7. S7 controls the PWM duty cycle of each drive motor to decrease linearly until it stops, restoring the normal operating mode.

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