作者：张浩男, 张友坤, 卢延辉
作者单位：吉林大学汽车工程学院，吉林 长春 130025
关键词：最小转向圆半径;激光位移传感器;拖拉机;最小方差估计
摘要：
拖拉机最小转向圆半径是拖拉机转向性能和通过性能的重要参数，属于拖拉机整机装配后的下线检测项目之一。该文开发一种拖拉机最小转向圆半径静态测试系统，用室内试验替代现有的场地试验，测试系统主要包括工控机、步进电机控制滑台和激光位移传感器，采用CANopen协议作为现场通信总线协议。该系统通过激光位移传感器扫描记录拖拉机转向轮极限转角下的断面轮廓，利用最小方差估计算法识别出轮胎胎冠上的对称区域，然后通过轮胎断面轮廓确定轮胎转角，带入拖拉机结构参数，进而计算得到拖拉机最小转向圆半径；采用最优化信号处理算法，实时计算采样信号的均值和方差直到获得最优值，以提高系统的测试精度。测试试验结果表明：该测试系统的角度测试误差在±0.5°以内，并且测试时间小于2 min，测试系统的可靠性和实用性得到验证。
Design and experiment of tractor minimum turning radius static test system
ZHANG Haonan, ZHANG Youkun, LU Yanhui
College of Automotive Engineering, Jilin University, Changchun 130025, China
Abstract: The minimum turning circle radius of tractor is an important parameter of tractor steering performance and trafficability, which is one of the offline testing items after the tractor is assembled. In this paper, a minimum turning radius static test system is developed, which replaces the current field test with in-room test. The test system is mainly composed of a computer, stepper motors and laser displacement sensors, and the CANopen protocol is adopted as the field bus. After scanning and recording the cross-section profile of tractor steering wheel under the limit angle by laser displacement sensors, the system uses the minimum variance estimation algorithm to identify the symmetrical area on the tire crown, then determines the tire angle through the tire cross-section profile, brings in the tractor structural parameters, and then calculates the minimum turning circle radius of tractor; in order to improve the test accuracy of the system, the optimal signal processing algorithm is used to calculate the mean and variance of the sampled signal in real time until the optimal value is obtained. The test results show that the test angle error of the developed test system is ±0.5°, and the whole test time is within 2 minutes. The reliability and practicability of the test system have been verified.
Keywords: minimum turning radius;laser displacement sensor;tractor;minimum variance estimation
2022, 48(7):128-133 收稿日期: 2021-05-17;收到修改稿日期: 2021-07-08
基金项目: 国家十三五重点研发计划（2017YFD0700202）
作者简介: 张浩男（1998-），男，吉林长春市人，硕士研究生，专业方向为汽车电子控制研究
参考文献
[1] 农业拖拉机-试验规程-第19部分: 轮式拖拉机转向性能: GB/T 3871.19—2006[S]. 北京: 中国标准出版社, 2006.
[2] 张智刚, 罗锡文, 李俊岭. 轮式农业机械自动转向控制系统研究[J]. 农业工程学报, 2005, 21(11): 77-80
[3] XIANG Y, NOGUCHI N. Development and evaluation of a general-purpose electric off-road robot based on agricultural navigation[J]. International Journal of Agricultural and Biological Engineering, 2014, 7(5): 14-21
[4] 胡炼, 罗锡文, 赵祚喜, 等. 插秧机电控操作机构和控制算法设计[J]. 农业工程学报, 2009, 25(4): 118-122
[5] 黄培奎, 赵祚喜, 靳俊栋, 等. 基于AutoTrac的导航控制参数整定方法试验[J]. 农业工程学报, 2015, 31(S2): 105-111
[6] 何杰, 高维炜, 王辉, 等. 基于MEMS陀螺仪的农机转向轮角测量方法[J]. 中国农机化学报, 2020, 41(4): 123-129
[7] JI Z, LEU M C. Design of optical triangulation devices Opt Laser Technol[J]. Optics & Laser Technology, 1989, 21(5): 339-341
[8] 刘国联, 陈根, 张敏海. 基于CAN总线的铁路道岔监测系统设计[J]. 南方农机, 2020, 51(9): 217-219
[9] 吕柳熙, 张曦, 吕其兵, 等. 钢轨焊接车间固定式焊机自动对中系统研究[J/OL]. 热加工工艺: 1-6[2021-07-29]. https: //doi. org/10.14158/j.cnki.1001-3814.20200471.
[10] HONG C, IBARAKI S. Non-contact R-test with laser displacement sensors for error calibration of five-axis machine tools[J]. Precision Eng, 2013, 37: 159-171
[11] JIANG Z, SONG B, ZHOU X, et al. On-machine measurement of location errors on five-axis machine tools by machining tests and a laser displacement sensor[J]. Int J Mach Tools Manuf, 2003, 43: 771-780
[12] HSIEH T H, JYWE W Y, HUANG H L, et al. Development of a laser-based measurement system for the scraping workpiece quality[J]. Opt Laser Eng, 2011, 49(8): 1045-1053
[13] 代红川. 基于激光传感器的刀具磨损检测方法研究[D]. 北京: 华北电力大学, 2017.
[14] 高昂, 柴晓冬, 李立明. 基于激光传感器的轨距测量系统研究[J]. 智能计算机与应用, 2020, 10(2): 240-244+249
[15] GAO W, TANO M, SATO S, et al. On-machine measurement of a cylindrical surface with sinusoidal micro-structures by an optical slope sensor[J]. Precision Eng, 2006, 30: 274-279
[16] CHEN M, TAKAHASHI S, TAKAMASU K. Development of high-precision micro-roundness measuring machine using a high-sensitivity and compact multi-beam angle sensor[J]. Precision Eng, 2015, 42: 276-282
[17] 孔伟亮, 谢有浩, 姜阔胜, 等. 基于激光巷道变形监测仪的巷道变形特征分析[J]. 滁州学院学报, 2020, 22(2): 27-30
[18] 李艳军, 王陈, 郭俊, 等. 铸管承口圆度非接触式测量系统设计[J]. 淮阴工学院学报, 2020, 29(1): 38-43
[19] 冯宇, 南卓江, 李楠, 等. 基于线结构激光的滚柱表面参数测量系统[J]. 中国测试, 2020, 5: 77-81, 119
[20] 李宏恩, 巩高, 任占福, 等. 基于传感器技术的下肢康复评价系统设计[J]. 山西电子技术, 2019(6): 56-58+70
[21] 尹纪磊, 伍川辉, 郭辉, 等. 基于激光位移传感器的手持式轮对尺寸测量仪设计[J]. 中国测试, 2020, 46(2): 69-73
