履带作业机全向调平系统结构参数优化设计与试验

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中图分类号：S232.3 文献标识码：A 文章编号：2095-5553（2026）03-0168-09

DOI：10.13733/j.jcam.issn.2095-5553.2026.03.023

Abstract：Toaddresstheissuesoflargetiltanglechangesandpoorsafetyduringagriculturalmachineryoperationsinhily andmountainousareas，afullydirectionallevelingsystemforacrawer-typeoperationmachinewasdesignedAstructuralscheme foranomni-directional levelingsystem basedona“double-layer bracket”forthecrawler-typemachinewasproposed.A mathematical modelofthetiltingdynamicsofthecrawler-typemachinewasestablished，andthestaticanddynamicultimate tiltinganglesinbothlongitudinalandlateraldirectionsofcrawler-typemachinewereanalyzedtoensureoperationalstability. Byconstructingakinematicmathematicalmodelofthelevelingstructure，theinfluenceofitsstructuralparametersontheperformance ofthelevelingsystemwasanalyzedThestructural parametersofthe levelingsystem wereoptimized byusing the GA—PSO algorithm，andtedimensionalparametersoftheomi-directioallevelingsystemfortherawler-typemachineweredeterinedAn Adams-MATLAB/Simulinkco-simulationmodel wasdeveloped，andsimulationsandexperimentalstudieswereconducted. Theresultsshowedthat，comparedwiththegeneticalgorithm，thehorizontalandvertical levelingangularvelocitiesafterGAPSO parameter optimization have increased by 0.24rad/s and O.2 rad/s respectively. The lateral and longitudinal leveling accuracies were improved by 1.94∘ and 1.05∘ ，respectively，and the lateral and longitudinal leveling stabilization times were shortened by 1. 27 s and 1.05s ，respectively，validating the excellent performance of the designed omni-directional leveling system.

Keywords：crawler-typeworking machine；omni-directional levelingsystem；optimal design；stability；GA—PSOalgorithm

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