【正文】 )。AT91F_AIC_AcknowledgeIt(AT91C_BASE_AIC)。 //AT91F_AIC_EnableIt (AT91C_BASE_AIC, AT91C_ID_SYS)。 //* Open timer0AT91F_TC_Open(AT91C_BASE_TC0,AT91C_TC_CLKS_TIMER_DIV5_CLOCK|AT91C_TC_CPCTRG)。 x =SCLK/frequency。}++timer0_monitor_count。 if ( (dummy amp。AT91F_AIC_EnableIt (AT91C_BASE_AIC, AT91C_ID_TC012)。// Enable TransmitterAT91F_US_EnableTx((AT91PS_USART) AT91C_BASE_DBGU)。AT91F_AIC_SetExceptionVector((unsigned int *)0x10, AT91F_DataAbort)。AT91F_AIC_AcknowledgeIt(AT91C_BASE_AIC)。// Wait until the master clock is establishedtmp = 0。 (0x6016)) | (AT91C_CKGR_DIVB amp。原因為方波高電平持續(xù)時間接近電磁閥上電的時間，而電磁閥掉電的動作時間遠(yuǎn)小于其上電的動作時間，導(dǎo)致電磁閥中的彈簧沒有充足的時間完成一個振動。軟件程序的流程圖如下。AT91SAM9263 的中斷控制是程序流程得以正確執(zhí)行的關(guān)鍵驅(qū)動力，作用非常重要。同時，它較低的電阻損耗和小的封裝成本同樣也有利于它在工業(yè)中的廣泛應(yīng)用。10A R M 主控電路P W M 信號驅(qū)動電路驅(qū)動電流電池閥圖 6 液 壓 轉(zhuǎn) 向 系 統(tǒng) 測 試 電 路 原 理 框 圖 ARM 主控電路本設(shè)計中使用的主控電路為深圳市天漠科技有限公司生產(chǎn)的 SBC6300X 開發(fā)板。覆蓋將被拘禁在這個位置。當(dāng)通電時，電磁閥打開位置①到位置③之間的通路，阻塞位置②。此外，還在系統(tǒng)的關(guān)鍵部位留了油壓口，方便測試系統(tǒng)的壓力特性。液壓油可以經(jīng)過單向閥無約束地從平衡閥正向（液壓缸進(jìn)油）通過（圖中 A→A1 或 B→B1），但從反向通過（液壓缸回油）時需要克服平衡閥設(shè)定的開啟壓力，該壓力構(gòu)成回油背壓壓力。4 A 轉(zhuǎn)向器基本連接圖 B 開芯無反應(yīng)轉(zhuǎn)向器原理圖 C 閉芯無反應(yīng)轉(zhuǎn)向器原理圖圖 2 拖 拉 機 轉(zhuǎn) 向 器 原 理 圖圖 2 中 A 是拖拉機全液壓轉(zhuǎn)向器的基本組裝圖，它有液壓油箱、液壓油泵、過濾器、溢流閥、單向閥、轉(zhuǎn)向器、轉(zhuǎn)向盤、轉(zhuǎn)向油缸、轉(zhuǎn)向車輪及一些液壓輔助元件組成。在此基礎(chǔ)上經(jīng)行改進(jìn)，以同步帶取代鏈條，對電機進(jìn)行控制。電機驅(qū)動方面，Noboru Noguchi（Noboru Noguchi，1997 ）等人對傳統(tǒng)的小型后輪驅(qū)動汽油拖拉機改裝，采用步進(jìn)電機驅(qū)動方向盤，磁阻航向傳感器實時采集車輛航向信號，轉(zhuǎn)向角通過電位計獲得，后輪旋轉(zhuǎn)角則通過旋轉(zhuǎn)編碼器獲取。在復(fù)雜的農(nóng)田生產(chǎn)環(huán)境下，農(nóng)業(yè)機械轉(zhuǎn)向控制器的設(shè)計不同于公路行走車輛，因為其面對的工作環(huán)境是變化的，不可預(yù)知的地形，行走的地表有硬有軟，具有高度的非線性性（Q. Zhang， 2022） 。目前，農(nóng)業(yè)機械智能導(dǎo)航技術(shù)在歐美發(fā)達(dá)國家已經(jīng)得到深入的研究，其產(chǎn)品在實際農(nóng)業(yè)生產(chǎn)中也得到了廣泛的應(yīng)用并取得的顯著的生產(chǎn)效益?；?SBC6330XARM 開發(fā)板，開發(fā)了測試程序。在工作過程中，二位三通換向閥需要頻繁通斷以實現(xiàn)手動和自動油路的切換，直接關(guān)系到系統(tǒng)工作的穩(wěn)定性和可靠性。關(guān)鍵詞：SBC6330X 驅(qū)動電路 電磁閥無人駕駛拖拉機電控液壓轉(zhuǎn)向系統(tǒng)的可靠性測試Turning to the Reliability of the Testing System of UnmannedTractors HydraulicWu Zhangrong(College of Engineering, South China Agricultural University, Guangzhou 510642, China)Abstract:This paper mainly aim at my school unmanned tractors hydraulic steering system, carry out the solenoid valve solenoid valve reliability test, test of tolerance is energized for a long time and frequent onoff.The analysis of the existing electric hydraulic steering system position, prising a filter, the quantitative pump, a manual reversing valve, steering gear, hydraulic pump, pressure gauge, pressure relief valve, reversing valve, two three three position four way electromagic proportion reversing valve and the mailbox, the basic working principle described. In the work process, two position three way directional control valve need frequent onoff switch to realize manual and automatic oil, directly related to the stability and reliability of the system. Therefore, this paper designed a reliability test system of a set of two position three way reversing valve.The test system prises: driver development board, AT91SAM9263 embedded system SV1031N24VDC solenoid valve solenoid valve amplification circuit and the United States of America HYDRAFORCE pany production based on. Based on the SBC6330XARM development board, development test program. ARM main control circuit generates a PWM signal, through the drive circuit of signal amplification, electromagic valve control circuit.The tests were conducted in different control signal test 4, respectively, a period of 2 seconds, one second, seconds of Fang Bo and continuous output high level. 2 seconds, one second and second square wave test time is 30 minutes, sustained high level input test time is 60 minutes. The test results show that: ARM main control board and a driving circuit control work effectively, the solenoid valve on the longterm electricity and frequent onoff has better tolerance.Key words: SBC6330X drive circuit electromagic valveI目 錄1 前言 .......................................................................................................................................1 研究背景 ...........................................................................................................................1 研究目的 ...........................................................................................................................1 研究意義 ...........................................................................................................................1 國內(nèi)外研究狀況 ......................