摘要为避免大型平移式喷灌机传统试验中反复试验、改进造成的浪费及受季节、人力、物力等的制约，研究了大型平移式喷灌机行走控制系统在虚拟环境中的仿真和控制方法。对大型平移式喷灌机进行测绘，用Pro/Engineer建立三维仿真模型，用Multigen Creator软件建立三维虚拟农田场景。利用地面车辆力学理论，建立大型喷灌机的塔架车受力数学模型。在Visual C++ 6.0环境下，结合Multigen Vega软件，将三维喷灌机模型加载到虚拟场景中，对大型平移式喷灌机驱动系统和行走系统进行协同仿真。根据仿真实验结果，对大型喷灌机实体样机行走控制参数进行优化，并进行田间行走控制试验。仿真结果及田间试验表明，该系统能真实反映大型喷灌机在驱动电机作用下的行走状态。田间试验中，大型喷灌机能进行同步行走，相邻各跨之间的最大夹角误差为0.04°。
Abstract：A large scale linear-moving irrigation system is more efficient with less water, but the traditional trial and error involves much waste of water, material and human resource. To avoid this problem, the virtual reality technology is used to simulate the control and drive system. Three-dimensional models of the irrigation system are built according to their scale with Pro/Engineer, and three-dimensional scenes of farmland are established with Multigen Creator software. The mechanical model of the irrigation system is built according to the principles of ground vehicle dynamics. Visual C++ 6.0 and Multigen Vega are used to program an application, which loads the three-dimensional models of the irrigation system into the scenes of farmland. Then the control system and the drive system are simulated to monitor in real-time and to optimize the system parameters. The simulation results and tests show that the system can reflect the large-scale irrigation effectively, and optimize the control parameters through simulation, with the error of angle less than 0.04°.
2010, Vol. 28 
