| 摘要: |
| 针对轮式拖拉机自动导航中转向角测量及自动控制的需求，研制由非接触式角度传感器为测量元件的轮式拖拉机转向角测量装置。该转向角测量装置由转向角检测机构、数据采集模块及显示终端组成。角度传感器相对车体静止，磁块随前轮转向立柱一起做旋转运动，磁场方向的变化使角度传感器输出不同的电压值，从而测量前轮的转动角度。数据采集模块采用AD转换和数值标度变换方法实时采集并处理角度传感器输出的模拟电压信号，将结果发送至显示终端。在转向角测量试验过程中，根据RTK-GNSS记录的拖拉机行驶轨迹计算实际转向角度，并与所设计的转向角测量装置输出的测量值进行对比分析。结果表明:该装置在［-5°，+5°］时，实际转向角与测量转向角的最大误差为1.31°，RMS为1.08°；在［-45°，-5°)和(+ 5°，+ 45°］范围内时，角度测量的最大误差为1.93°、RMS最大为1.4°，测量结果准确可靠，可满足轮式拖拉机自动导航对转向角测量精度的需求。 |
| 关键词: 轮式拖拉机 转向角 角度传感器 数据采集 |
| DOI：10.11841/j.issn.1007-4333.2022.01.19 |
| 投稿时间：2021-05-30 |
| 基金项目:山东省自然科学基金项目(ZR2020MC085)；山东省重大科技创新工程项目(2019 JZZY010734)；山东省科技创新基地专项(SDKL2019014) |
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| Development and test of a steering angle measuring device for wheeled tractor |
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WANG Yanxin1,LI Jiaqi1,WANG Xian1,JIN Chengqian1,2,YIN Xiang1*
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| (1.School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, China;2.Nanjing Research Institute of Agricultural Mechanization of Ministry of Agriculture and Rural Affairs, Nanjing 210014, China) |
| Abstract: |
| In response to the demand for steering angle measurement and automatic control in the automatic navigation of wheeled tractors, a wheeled tractor steering angle measuring device with non-contact angle sensor as the measuring element was developed. The steering angle measurement device is composed of a steering angle detection mechanism, a data acquisition module and a display terminal. The angle sensor is stationary relative to the car body, and the magnetic block rotates along with the front wheel steering column. The change of the magnetic field direction makes the angle sensor output different voltage values to measure the rotation angle of the front wheel. The data acquisition module adopts AD conversion and numerical scale conversion methods to collect and process the analog voltage signal output by the angle sensor in real time, and send the result to the display terminal. During the steering angle measurement test, the actual steering angle was calculated according to the tractor's trajectory recorded by RTK-GNSS, and compared with the measured value output by the designed steering angle measurement device. The results show that: When the device is at ［-5°, +5°］, the maximum error between the actual steering angle and the measured steering angle is 1. 31°, and the RMS is 1. 08°; At ［-45°, -5°)and(+ 5°, + 45°］, the maximum error of angle measurement is 1. 93°, and the maximum RMS is 1. 4°. The measurement result is accurate and reliable, and the device can meet the requirements of wheeled tractor automatic navigation for steering angle measurement accuracy. |
| Key words: wheeled tractor steering angle angle sensor data collection |
