丘陵山地通用电动履带底盘研制与试验

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中图分类号：S225 文献标识码：A 文章编号：2095-5553（2026）03-0177-0

Abstract：Toaddressthepracticaldemandsforcropprotection，harvestingandtransportationinhillyandmountainous areas，andincombinationwiththeplantingpaternsandfieldoperationcharacteristicsofcornandtobacc，adual-motor independentlydrivenuniversalelectrictrackedchasisforhillyandmountainousareaswasdeveloped.Thiscassis primarilyconsistsofadriving chassis anda driving control system.In termsoftheoverall machine structuredesign，the chassis structure form，dimensions，trackeddriving mechanismanddrivemotorsare designedandselected.Regardingthe drivingcontrol，basedonthediferentialstering kinematicmodelandthesignaloutputcharacteristicsofthecontrol components，amethodforcalculatingthetargetrotational speedofthedrive motorisproposed，therebyaccuratelyrealizingthe operator’sdriving intentions.Forthestraight-linecontrolcondition，acrosscouplingcontrolstrategyisimplementedto createadual-channelfeedback mechanism.Thisapproachdynamicallyoptimizes thetargetrotational speedcommands whileincorporatingasingle-channelPIDalgorithmforacuratemotorspeedtracking.Theexperimentalresultsshowthat the speed control error is less than 0.02m/s when the general electric tracked chasis operates at high-speed in hilly and mountainous areas，when passing through a slope of 20∘ ，the pitch and tilt angle variations of the chassis are kept within ±1∘ ，at driving speeds of 0.2m/s 0.3m/s ，and 0.4m/s ，the straight-line travel deviation rates are 2.21% ， 2.56% ，and （204 3.03% ，respectively，meeting the operational requirements for hilly and mountainous regions.

Keywords：hillyand mountainousareas；universal electric tracked chasis；structuraldesign；driving chassis; driving control system

0 引言

丘陵山地地区占我国国土面积的 33% 以上，是农业生产和林业资源开发的重要区域[1]。（剩余12929字）