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1、ABSTRACTThe research on the vehicle-terra mechanics in home and abroad is mainly focused on thetest of soil parameters, the assessment on vehicle dynamics and the development on newdriving mechanisms, providing vehicle-terra interference basic theories and technologies.Starting with the semi-empiric
2、al characteristic equation and combining the dynamicalmodels of rigid wheel and terra, this paper provided a model for the calculation of soilbearing capacity and the computing method for searching the bearing characteristics ofsoil. Sensors were used to measure the dynamic properties of rigid wheel
3、s, followed withan experimental test on the algorithm to realize the on-line test and calculation of theagricultural machinery and the soil bearing capacities. The main contributions of thispaper were:Systematic review was performed on the vehicle-terra mechanics and the maincontributions, thus poin
4、ting out the future trend of agricultural machineries and itsrelated equipments. Also the new test methods on in-situ soil parameters were analyzed,and the key methods and contents for the thesis were provided.The agricultural machinery related dynamical equation of soil bearing capacity and thechar
5、acteristic parameters of the moving vehicle were studied. Relevant theories and testmethods for soil main bearing capacities were discussed.The mechanical model of agricultural driving wheel was studied. Based on its non-linearcharacters, the Simpson integration was introduced to simplify the calcul
6、ation procedure,which was then solved to yield the mathematical models of driving-wheel-related soilbearing capacity.Newton iterating and genetic algorithms were individually used to calculate soil bearingcapacities. The two were then compared, confirming that the generic algorithm was thebest way f
7、or the model calculation. This solved the problems associated with the Newtoniterating method in the selection on the initial value, the in-convolution of soilcompressing ratio and the precision and the stabilities.Laboratory design method was used for the on-line test and calculation on soil bearin
8、gcapacity. Two representative soils were used for the on-line test and calculation of thelaboratory soils. The results confirmed the reliabilities of the on-line test and calculationon soil bearing capacities from agricultural machineries.南京航空航天大学硕士学位论文Key words: Vehicle-terra mechanics, inter frict
9、ional angle, compressing ratio,compressing index, on-line testiii图表清单图 1.1农业智能车辆模型 .2图 1.2车载式田间土壤参数检测 .5图 2.1 土壤的压力-变形曲线.6图 2.2土壤的剪应力-剪切位移曲线 .8图 2.3 实验室土壤剪应力剪切位移关系 .11图 2.4实验室剪应力法向应力关系 .11图 3.1.刚性轮与松软地面相互作用力分布示意图 .14图 3.2刚性轮下土壤剪切位移 .14图 3.3土壤内聚力垂直载荷关系 .20图 3.4土壤内聚力驱动力矩关系 .20图 3.5土壤内聚力挂钩牵引力关系 .20图 4.1基于真值的土壤压陷系数迭代 .24图 4.2基于真值的土壤内摩擦角迭代 .24图 4.3基于真值的土壤压陷系数牛顿迭代 .24图 4.4基于初值 1600、35、0.9的土壤压陷系数迭代.26图 4.5基于初值 1600、35、0.9的土壤内摩擦角迭代.26图 4.6基于初值 1600、35、0.9的土壤内压线指数迭代.27图 4.7基于初值 1800、25、1.1的土壤压陷系数迭代.28图 4.8基于初值 1800、25、1.1的土壤内摩擦角迭代.28图 4.9基于初值 1800、25、1.1的土壤内压线指数迭代.29图 4.10最优个体 .
