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Article(id=1207658083090801655, tenantId=1146029695717560320, journalId=1205116883411038211, issueId=1207658076900008717, articleNumber=null, orderNo=null, doi=null, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=null, receivedDateStr=null, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1765857724211, onlineDateStr=2025-12-16, pubDate=null, pubDateStr=null, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1765857724211, onlineIssueDateStr=2025-12-16, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1765857724211, creator=13701087609, updateTime=1765857724211, updator=13701087609, issue=Issue{id=1207658076900008717, tenantId=1146029695717560320, journalId=1205116883411038211, year='2025', volume='23', issue='2', pageStart='189', pageEnd='376', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1765857722735, creator=13701087609, updateTime=1765862348176, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1207677477451833566, tenantId=1146029695717560320, journalId=1205116883411038211, issueId=1207658076900008717, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1207677477451833567, tenantId=1146029695717560320, journalId=1205116883411038211, issueId=1207658076900008717, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=371, endPage=376, ext={EN=ArticleExt(id=1207658083342458897, articleId=1207658083090801655, tenantId=1146029695717560320, journalId=1205116883411038211, language=EN, title=Analysis of factors influencing the slip rate between tracked combine harvester and paddy soil, columnId=1207658078934246168, journalTitle=Chinese Journal of Construction Machinery, columnName=Performance Mensuration, Experimentation and Fault Diagnosis, runingTitle=null, highlight=null, articleAbstract=

In order to explore the factors influencing the slip rate between tracked combine harvester and paddy soil, a coupled simulation model of tracked combine harvester and paddy soil is established by the RecurDyn software. Selecting the mass, driving speed, steering angular speed of the tracked combine harvester and the moisture content, positive slope, and oblique slope of the paddy soil as test factors, simulations under different conditions are implemented. Through a six-factor two-level PB (Plackett-Burman) test was conducted to screen out the slip rate significant factors that is soil moisture content, positive slope, and steering angle velocity. Then, a three-factor three-level BB (Box-Behnken) test was conducted on the three selected factors. The results show that soil moisture content, positive slope, and steering angle velocity have a very significant impact on slip rate, and the order of significance is steering angle velocity>soil moisture content>positive slope. As the positive slope and steering angle velocity increase, the slip rate increases significantly, while as the soil moisture content increases, the slip rate slowly decreases. The soil moisture content has a certain interaction with the positive slope and steering angular velocity. However, there is basically no interaction between positive slope and steering angular velocity. This study has important reference value and scientific significance for improving the path tracking accuracy and stability of tracked combine harvester for autonomous harvesting operation in paddy soil.

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为了探明履带式联合收获机在水田土壤作业时滑移率的影响因素，利用RecurDyn软件建立履带式联合收获机-水田土壤耦合仿真模型，并以联合收获机的质量、行驶速度、转向角速度和水田土壤的含水率、正坡度和斜坡度为试验因素进行耦合仿真。通过六因素二水平PB（Plackett-Burman）试验，筛选出对滑移率影响显著的因素为土壤含水率、正坡度和转向角速度。然后，对筛选出的三个因素进行三因素三水平BB（Box-Behnken）试验，结果表明：土壤含水率、正坡度、转向角速度对滑移率的影响十分显著，按影响显著程度排序为转向角速度>土壤含水率>正坡度；随着正坡度和转向角速度增长，滑移率明显上升，随着土壤含水率增长，滑移率缓慢下降；土壤含水率与正坡度和转向角速度具有一定的交互作用，正坡度和转向角速度基本没有交互作用。本研究对提升水田土壤中履带式联合收获机自主作业的路径跟踪精度和稳定性具有重要的参考价值和科学意义。

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路恩（1990—），男，副研究员，博士。E-mail：
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赵鑫（1999—），男，硕士生。E-mail：

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赵鑫（1999—），男，硕士生。E-mail：

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赵鑫（1999—），男，硕士生。E-mail：

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keyword=耦合仿真), Keyword(id=1207748675053392032, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=CN, orderNo=5, keyword=正交试验)], refs=[Reference(id=1207748679314805062, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, doi=null, pmid=null, pmcid=null, year=null, volume=null, issue=null, pageStart=null, pageEnd=null, url=null, language=null, rfNumber=[1], rfOrder=0, authorNames=国家统计局, journalName=null, refType=null, unstructuredReference=国家统计局. 2022年粮食产量数据的公告[EB/OL].（2021-08-25）[2023-10-14]. http://www.stats.gov.cn/sj/zxfb/202302/t20230203_1901673.html., articleTitle=2022年粮食产量数据的公告, refAbstract=null), Reference(id=1207748679411274057, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, doi=null, pmid=null, pmcid=null, year=2022, volume=34, issue=11, pageStart=2485, pageEnd=2496, url=null, language=null, rfNumber=[2], rfOrder=1, authorNames=蒋庆, 王儒敬, 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World Electric Vehicle Journal，2023，14（8）：1-14., articleTitle=Vibration and image texture data fusion-based terrain classification using WKNN for tracked robots, refAbstract=null)], funds=[Fund(id=1207748679008620858, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, awardId=52005220, language=CN, fundingSource=国家自然科学基金资助项目(52005220), fundOrder=null, country=null), Fund(id=1207748679105089855, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, awardId=2022YFD00150402, language=CN, fundingSource=国家重点研发计划子课题资助项目(2022YFD00150402), fundOrder=null, country=null)], companyList=[AuthorCompany(id=1207748671039443931, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, xref=null, ext=[AuthorCompanyExt(id=1207748671047832539, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, companyId=1207748671039443931, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=1. 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Main parameters of tracked combine harvester

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主要参数数值
外形尺寸（长×宽×高）/mm3 838×1 709×1 886
履带接地长度/mm1 978
履带宽度/mm360
最小质量/kg13 425.50
), ArticleFig(id=1207748677569974517, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=CN, label=表1, caption=

履带式联合收获机主要参数

, figureFileSmall=null, figureFileBig=null, tableContent=
主要参数数值
外形尺寸（长×宽×高）/mm3 838×1 709×1 886
履带接地长度/mm1 978
履带宽度/mm360
最小质量/kg13 425.50
), ArticleFig(id=1207748677662249213, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=EN, label=Tab.2, caption=

Paddy soil parameters with different moisture contents[4]

, figureFileSmall=null, figureFileBig=null, tableContent=
含水率R/%摩擦变形模量Kφ（kN·m-（n+2））黏聚变形模量Kc（kN·m-（n+1））内聚力C/kPa
221 723.5316.4268.90
28372.013.1527.56
32119.531.5213.78
), ArticleFig(id=1207748677758718209, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=CN, label=表2, caption=

不同含水率的水田土壤参数[4]

, figureFileSmall=null, figureFileBig=null, tableContent=
含水率R/%摩擦变形模量Kφ（kN·m-（n+2））黏聚变形模量Kc（kN·m-（n+1））内聚力C/kPa
221 723.5316.4268.90
28372.013.1527.56
32119.531.5213.78
), ArticleFig(id=1207748677884547336, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=EN, label=Tab.3, caption=

PB test level coding table

, figureFileSmall=null, figureFileBig=null, tableContent=
编码因素水平
-11
A土壤含水率/%2232
B行驶速度/（m·s-1）1.22.0
C收获机质量/kg13 425.516 79.38
D正坡度/（°）06
E斜坡度/（°）06
F转向角速度（°）060
), ArticleFig(id=1207748677976822028, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=CN, label=表3, caption=

PB试验水平编码表

, figureFileSmall=null, figureFileBig=null, tableContent=
编码因素水平
-11
A土壤含水率/%2232
B行驶速度/（m·s-1）1.22.0
C收获机质量/kg13 425.516 79.38
D正坡度/（°）06
E斜坡度/（°）06
F转向角速度（°）060
), ArticleFig(id=1207748678060708114, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=EN, label=Tab.4, caption=

ANOVA results

, figureFileSmall=null, figureFileBig=null, tableContent=
来源平方和自由度均方F值P值是否显著
模型5 96469945.310.043是
A1 57311 5738.410.033否
D1 48311 4837.930.037是
F2 72712 72714.570.012是
), ArticleFig(id=1207748678178148631, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=CN, label=表4, caption=

方差分析结果

, figureFileSmall=null, figureFileBig=null, tableContent=
来源平方和自由度均方F值P值是否显著
模型5 96469945.310.043是
A1 57311 5738.410.033否
D1 48311 4837.930.037是
F2 72712 72714.570.012是
), ArticleFig(id=1207748678283006234, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=EN, label=Tab.5, caption=

Factor level coding table

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变量因素水平和编码
-101
A土壤含水率/%222832
B正坡度/（°）036
C转向角速度/（rad·s-1）00.5251.05
), ArticleFig(id=1207748678387863839, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=CN, label=表5, caption=

因素水平编码表

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变量因素水平和编码
-101
A土壤含水率/%222832
B正坡度/（°）036
C转向角速度/（rad·s-1）00.5251.05
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BB experimental results

, figureFileSmall=null, figureFileBig=null, tableContent=
序号土壤含水率/%正坡度/（°）转向角速度/（rad·s-1）滑移率/%
13230.004.76
22801.0530.11
32861.0539.98
43200.5320.50
52200.5321.97
62830.5322.76
73260.5320.01
82830.5322.76
92800.005.97
102260.5334.90
112830.5322.76
122230.0021.14
132830.5322.76
142830.5322.76
153231.0522.76
162231.0537.83
172860.0015.35
), ArticleFig(id=1207748678614356264, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=CN, label=表6, caption=

BB试验结果

, figureFileSmall=null, figureFileBig=null, tableContent=
序号土壤含水率/%正坡度/（°）转向角速度/（rad·s-1）滑移率/%
13230.004.76
22801.0530.11
32861.0539.98
43200.5320.50
52200.5321.97
62830.5322.76
73260.5320.01
82830.5322.76
92800.005.97
102260.5334.90
112830.5322.76
122230.0021.14
132830.5322.76
142830.5322.76
153231.0522.76
162231.0537.83
172860.0015.35
), ArticleFig(id=1207748678710825261, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=EN, label=Tab.7, caption=

ANOVA results

, figureFileSmall=null, figureFileBig=null, tableContent=
来源平方和自由度均方F值P值是否显著
模型1 411915612.84<0.000 1是
A215121558.920.000 1是
B143114339.140.000 4是
C9511951259.91<0.000 1是
残差2573
失拟项2538
纯误差040
总和1 43716
), ArticleFig(id=1207748678807294256, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658083090801655, language=CN, label=表7, caption=

方差分析结果

, figureFileSmall=null, figureFileBig=null, tableContent=
来源平方和自由度均方F值P值是否显著
模型1 411915612.84<0.000 1是
A215121558.920.000 1是
B143114339.140.000 4是
C9511951259.91<0.000 1是
残差2573
失拟项2538
纯误差040
总和1 43716
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履带式联合收获机在水田土壤间滑移率的影响因素分析
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赵鑫 1, 2 , 路恩 1, 2 , 王晖 1, 2 , 田中明 1, 2
中国工程机械学报 | 性能检测、试验及故障诊断 2025,23(2): 371-376
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中国工程机械学报 | 性能检测、试验及故障诊断 2025, 23(2): 371-376
履带式联合收获机在水田土壤间滑移率的影响因素分析
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赵鑫1, 2 , 路恩1, 2 , 王晖1, 2, 田中明1, 2
作者信息
  • 1.江苏大学 农业工程学院，江苏 镇江 212013
  • 2.江苏大学 智能农机装备理论与技术重点实验室，江苏 镇江 212013

    • 赵鑫（1999—），男，硕士生。E-mail：

通讯作者:

路恩（1990—），男，副研究员，博士。E-mail：
Analysis of factors influencing the slip rate between tracked combine harvester and paddy soil
Xin ZHAO1, 2 , En LU1, 2 , Hui WANG1, 2, Zhongming TIAN1, 2
Affiliations
  • 1. School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, Jiangsu, China
  • 2. Key Laboratory for Theory and Technology of Intelligent Agricultural Machinery and Equipment, Jiangsu University, Zhenjiang 212013, Jiangsu, China
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摘要
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为了探明履带式联合收获机在水田土壤作业时滑移率的影响因素，利用RecurDyn软件建立履带式联合收获机-水田土壤耦合仿真模型，并以联合收获机的质量、行驶速度、转向角速度和水田土壤的含水率、正坡度和斜坡度为试验因素进行耦合仿真。通过六因素二水平PB（Plackett-Burman）试验，筛选出对滑移率影响显著的因素为土壤含水率、正坡度和转向角速度。然后，对筛选出的三个因素进行三因素三水平BB（Box-Behnken）试验，结果表明：土壤含水率、正坡度、转向角速度对滑移率的影响十分显著，按影响显著程度排序为转向角速度>土壤含水率>正坡度；随着正坡度和转向角速度增长，滑移率明显上升，随着土壤含水率增长，滑移率缓慢下降；土壤含水率与正坡度和转向角速度具有一定的交互作用，正坡度和转向角速度基本没有交互作用。本研究对提升水田土壤中履带式联合收获机自主作业的路径跟踪精度和稳定性具有重要的参考价值和科学意义。

履带式联合收获机  /  滑移率  /  水田土壤  /  耦合仿真  /  正交试验

In order to explore the factors influencing the slip rate between tracked combine harvester and paddy soil, a coupled simulation model of tracked combine harvester and paddy soil is established by the RecurDyn software. Selecting the mass, driving speed, steering angular speed of the tracked combine harvester and the moisture content, positive slope, and oblique slope of the paddy soil as test factors, simulations under different conditions are implemented. Through a six-factor two-level PB (Plackett-Burman) test was conducted to screen out the slip rate significant factors that is soil moisture content, positive slope, and steering angle velocity. Then, a three-factor three-level BB (Box-Behnken) test was conducted on the three selected factors. The results show that soil moisture content, positive slope, and steering angle velocity have a very significant impact on slip rate, and the order of significance is steering angle velocity>soil moisture content>positive slope. As the positive slope and steering angle velocity increase, the slip rate increases significantly, while as the soil moisture content increases, the slip rate slowly decreases. The soil moisture content has a certain interaction with the positive slope and steering angular velocity. However, there is basically no interaction between positive slope and steering angular velocity. This study has important reference value and scientific significance for improving the path tracking accuracy and stability of tracked combine harvester for autonomous harvesting operation in paddy soil.

tracked combine harvester  /  slip rate  /  paddy soil  /  coupled simulation  /  orthogonal test
赵鑫, 路恩, 王晖, 田中明. 履带式联合收获机在水田土壤间滑移率的影响因素分析. 中国工程机械学报, 2025 , 23 (2) : 371 -376 .
Xin ZHAO, En LU, Hui WANG, Zhongming TIAN. Analysis of factors influencing the slip rate between tracked combine harvester and paddy soil[J]. Chinese Journal of Construction Machinery, 2025 , 23 (2) : 371 -376 .
正文
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2022年我国水田中的水稻种植面积约有1.49亿亩[1]，由于水稻种植地区降水丰富、河湖众多，水田泥泞松软、淤泥严重的湿润积水环境会极大地影响车辆收获作业，导致车辆与土壤间严重的滑移[2]。当前，农业劳动力老龄化加重，发展智能农机成为提高农业效率的关键。通过智能化改造履带式联合收获机，可显著提高效率、降低成本。在水田中，履带式联合收获机与土壤滑移导致路径跟踪存在适应性差、作业路径波动大等问题，影响作业质量和效率。因此，分析履带式联合收获机与水田土壤滑移的影响因素可为改进路径跟踪控制算法提供参考，对提高机器在水田中的自主操作精度和稳定性至关重要。
成凯等[3]基于RecurDyn仿真研究了履带式车辆在湿地中负重轮、驱动轮、履带销轴的受力情况，并对斜支撑进行受力分析，提出了结构优化建议及延长履带行走系统使用寿命的措施。赵家丰等[4]对土壤承压模型进行改进得出了预测载荷下陷曲线，为研究车辆行驶下陷提供参考。孙术发等[5]使用RecurDyn软件对履带式运输车在湿地土壤进行仿真分析，得到了履带式运输车在作业时的最佳张紧力、行车挡速等数据，为履带式运输车辆制造提供理论依据和技术支持。贾鑫等[6]通过仿真分析得出了转向半径、坡角和土壤环境对车辆转向特性的影响效果，可为履带车辆转向系统设计及其软坡路面转向特性分析提供参考。Al-Milli等[7]提出了一种履带-地形建模分析方法，并开发了可通过性预测工具，可以用来测试不同履带式车辆在各种土壤特性条件下的性能。Vyaznikov等[8]提出了一种基于一阶Pade展开的摩擦模型，并将其推广到移动履带与地面的矩形接触模型，为解决局部侧滑情况下的运动控制提供了参考。董超等[9]在传统履带车转向力学模型基础上综合考虑了离心力和履带滑移、滑转因素，提高了履带式车辆转向过程中各转向性能参数的计算精度。
为了分析不同工况下履带式联合收获机与水田土壤间滑移率变化的影响因素，本文采用RecurDyn软件建立履带式联合收获机-水田土壤耦合仿真模型，通过仿真试验采集不同工况条件下履带式联合收获机运动状态的相关数据。然后利用PB试验筛选出显著影响滑移率的因素，并通过BB试验进一步分析对滑移率影响显著因素的交互作用。
1　耦合仿真模型
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根据RecurDyn软件的履带建模工具包特点，本文将履带式联合收获机简化为2个部分：车体和履带式底盘，如图1所示。履带式联合收获机主要参数见表1，不同含水率的水田土壤参数见表2。
根据履带式联合收获机RecurDyn模型和水田土壤参数，可建立履带式联合收获机-水田土壤耦合仿真模型。总体仿真时间设置为38 s，动画数据采样步数设置为500，最大时间步长设置为0.01 s，在Result中采集试验数据并据此进行履带式联合收获机-水田土壤间滑移率影响因素的分析。
2　耦合仿真试验方案
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2.1　滑移率影响因素分析及计算
在履带式联合收获机作业过程中，粮箱中籽粒数量的变化会导致其履带对地面压力产生变化，在仿真中通过改变车体自重来模拟这一情况[10]。履带式联合收获机转弯时，不同的转向角速度会导致侧向受力改变，可能会出现打滑或漂移的情况，从而导致滑移率变化。水田土壤的含水率对其性能具有重要的影响，会影响履带式联合收获与水田土壤间的滑移率。此外，还考虑了履带式联合收获机作业过程中的路面坡度、行驶速度等因素[11-14]。综上所述，本文在保持履带张紧力和车辆外形等条件不变的情况下，研究水田环境中履带式联合收获机的车速、转向角速度、质量、土壤含水率和坡度与滑移率间变化关系。
履带式联合收获机与水田土壤间的滑移率R可采用如下公式计算：
式中：v为车速；ω为驱动轮转速；r为驱动轮齿顶圆半径。
2.2　试验条件和方法
仿真试验的参数如下：履带式联合收获机行驶速度为0.8~2.0 m/s，收获机质量为13 425.50~16 779.38 kg，土壤类型选用lean clay，含水率为22%~32%，正坡度为0°~6°，斜坡度为0°~6°，转向角速度范围为0~1.05 rad/s。其余仿真设置保持参数不变，修改联合收获机的质量、行驶速度、转向角速度和水田土壤的含水率、正坡度、斜坡度等，完成其他条件下的仿真及滑移率计算。
3　结果与分析
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由于履带式联合收获机滑移率的6个影响因素都是通过分析获得的，并无数据支持，需要先对这6个影响因素进行PB试验，验证并筛选出对履带式联合收获机滑移率影响较为明显的因素；然后对筛选出的因素再进行以滑移率为响应值的BB试验，可以得到滑移率与各影响因素之间回归表达式等联系。
3.1　PB试验
利用Design-Expert 8.0.6软件设计包括土壤含水率（A）、行驶速度（B）、收获机质量（C）、正坡度（D）、斜坡度（E）、转向角速度（F）的6因素2水平试验，PB试验水平编码见表3。
PB试验的单因素显著分析结果如图2所示，高于下方横线的因素为影响显著，高于上方横线的为影响十分显著。根据结果可以筛选出3个显著影响因素：土壤含水率、正坡度、转向角速度。方差分析结果见表4，试验模型可信；土壤含水率、正坡度、转向角速度的P值均小于0.05，同样验证了土壤含水率、正坡度、转向角速度对滑移率的影响显著。
3.2　BB试验
3.2.1　BB试验方案
BB试验是一种常用于三水平三因素的响应面设计方法，其通过二次曲线拟合模型来减少试验次数，设计矩阵中的每个因素变量都会在各个水平上进行变化，以捕捉因素之间的交互作用，这样可以获得对响应变量影响的全面了解。以滑移率为响应值，以土壤含水率、正坡度、转向角速度为自变量，采用Design-Expert 8.0.6软件进行三水平三因素试验，各因素水平编码见表5，BB试验结果见表6。
3.2.2　回归方程
根据表6可以得到式（2）所示的三因素与响应值的回归方程，根据回归方程可以在一定范围内预测履带式联合收获机在不同条件下的滑移率：
3.2.3　方差分析
方差分析结果见表7。试验模型的变异系数CV小于10%，试验模型的信噪比SNR远大于4，表明试验模型具有较高的合理性和可信度，可以用于分析履带式联合收获机-水田土壤间滑移率的影响因素。试验模型的响应面设计模型可行性F值为12.84（>1），验证了模型的显著有效。各因素对应的F值越大，代表对滑移率的影响程度越高，可以看出对滑移率影响显著排序为转向角速度>土壤含水率>正坡度。各因素的P值越小，代表精度值越高，试验模型的P值小于万分之一，说明了试验模型的精度较高。转向角速度P值低于万分之一，土壤含水率P值为0.000 1，正坡度P值为0.000 4，表明转向角速度对滑移率的影响十分显著，土壤含水率和正坡度对滑移率影响很显著。
3.2.4　响应面分析
图3~图5为各交互因素的响应面图。图3为土壤含水率和正坡度为交互因子的响应面，当正坡度从0°增长到6°时，滑移率也随之明显上升；土壤含水率从22%增长到32%时，滑移率随之缓慢下降，其平面投影为土壤含水率与正坡度的等高线，等高线弯曲，表明了两者有一定的交互作用。图4为土壤含水率和转向角速度为交互因子的响应面，当转向角速度从0 rad/s增长到1.05 rad/s，滑移率随之明显上升，土壤含水率从22%增长到32%，滑移率缓慢下降，图中平面投影的等高线弯曲度很小，表明了两者交互作用较弱。图5为正坡度和转向角速度为交互因子的响应面，正坡度从0°增长到6°，滑移率沿正坡度方向呈一条斜线显著上升；转向角速度从0 rad/s增长到1.05 rad/s，滑移率延转向角速度方向，滑移率呈一条斜线显著上升，图中平面投影的等高线基本没有弯曲，表明两者几乎没有交互作用。
综上所述，在一定范围内，随着正坡度和转向角速度增长，滑移率会明显上升，随着土壤含水率变高，滑移率则会缓慢减小，这是由于含水率越高，履带式联合收获机在水田土壤中的沉陷越大导致的；土壤含水率与正坡度和转向角速度具有一定的交互作用，正坡度和转向角速度之间基本没有交互作用。
4　结论
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本文从履带式联合收获机和水田土壤两个角度，确定了6个待筛选的滑移率影响因素，分别为履带式联合收获机的质量、行驶速度、转向角速度和水田土壤的含水率、正坡度和斜坡度。利用RecurDyn软件建立了履带式联合收获机-水田土壤耦合仿真模型，获取了不同仿真条件下履带式联合收获机和水田土壤间滑移率的数据。最后，基于Design-Expert软件，通过PB试验筛选出对滑移率影响显著的3个因素，并通过BB试验获得了滑移率与各影响因素之间的回归表达式和响应面图。
PB试验的单因素显著分析结果表明，水田土壤含水率、正坡度和联合收获机的转向角速度为显著影响因素；PB试验的方差分析结果表明，试验模型、土壤含水率、正坡度、转向角速度的P值均小于0.05，验证了试验模型可信，且土壤含水率、正坡度、转向角速度对滑移率的影响更为显著。
BB试验获得了土壤含水率、正坡度和转向角速度与滑移率的二次多项式回归表达式，方差分析结果表明3个因素对滑移率影响大小的排序为：转向角速度>土壤含水率>正坡度，并结合残差分析验证了试验模型的准确性和可信性。响应曲面图和等高线图表明，随着正坡度和转向角速度增长，滑移率明显上升，土壤含水率升高，滑移率随之缓慢降低，这是由于含水率越高，履带式联合收获机在水田土壤中的沉陷越大导致的；土壤含水率与正坡度和转向角速度具有一定的交互作用，正坡度和转向角速度之间基本没有交互作用。
基金
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  • 国家自然科学基金资助项目(52005220)
  • 国家重点研发计划子课题资助项目(2022YFD00150402)
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2025年第23卷第2期
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  • 首发时间：2025-12-16
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基金
国家自然科学基金资助项目(52005220)
国家重点研发计划子课题资助项目(2022YFD00150402)
作者信息
    1.江苏大学 农业工程学院，江苏 镇江 212013
    2.江苏大学 智能农机装备理论与技术重点实验室，江苏 镇江 212013

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路恩（1990—），男，副研究员，博士。E-mail：
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