内燃平衡重式叉车干式离合器模糊控制策略研究

发布时间：2018-12-16 17:40

【摘要】：叉车是物流领域重要的装卸搬运工具,传统内燃平衡重式叉车在起步和换档过程中操作复杂,容易使驾驶员产生驾驶疲劳。机械式自动变速器(AMT)是在传统离合器和手动齿轮变速器的基础上改造而成,主要改变了脚动离合与人工换档两个部分,即在变速器总体结构不变的情况下,用电子控制来实现叉车的自动离合和换档功能。本文对叉车AMT设计和控制策略进行了研究,主要内容包括：设计叉车AMT方案。首先,确定AMT结构方案,并说明其工作原理；其次,设计了AMT各传感器数据采集方案；最后,设计了AMT离合器和变速器执行机构方案。叉车起步和换档离合器的接合过程研究。首先,分析了离合器起步和换档过程的接合规律,从而得出影响离合器接合的因素；然后对叉车离合器接合的动力学模型进行研究,推导出叉车离合器接合滑磨功和冲击度计算公式,分析如何在滑磨功和冲击度这对相互矛盾的评价指标中取得平衡。模糊控制策略研究。离合器的接合受驾驶员意图和叉车作业内外部条件的影响,这些影响因素构成了一种非线性、时变、难以用数学建模实现精确控制的系统。针对系统的这些特征,提出了模糊控制策略,并借助于MATLAB平台完成叉车起步和换档过程模糊控制器的设计,最后,利用GUI对所制定的模糊控制策略进行仿真和分析。样机实验结果表明：提出的模糊控制策略达到预期目的,叉车AMT能实现自动离合和换挡的功能,控制器能够根据驾驶员意图及叉车运行条件的变化及时地调整控制策略。
[Abstract]:Forklift truck is an important loading and unloading tool in the field of logistics. The traditional internal combustion balanced heavy forklift truck is complicated in the process of starting and shifting, which can easily cause driver fatigue. The mechanical automatic transmission (AMT) is modified on the basis of traditional clutch and manual gear transmission, which mainly changes the two parts of the foot clutch and manual shift, that is, when the overall structure of the transmission remains unchanged. The automatic clutch and shift function of forklift is realized by electronic control. The AMT design and control strategy of forklift truck are studied in this paper. The main contents are as follows: design AMT scheme of forklift truck. Firstly, the structure scheme of AMT is determined and its working principle is explained. Secondly, the data acquisition scheme of each sensor of AMT is designed. Finally, the scheme of AMT clutch and transmission actuator is designed. Research on the engagement process of forklift starting and shifting clutch. Firstly, the engagement law of clutch starting and shifting process is analyzed, and the factors that affect clutch engagement are obtained. Then, the dynamic model of clutch engagement of forklift truck is studied, and the formula of sliding grinding power and impact degree is deduced, and the balance between sliding work and impact degree is analyzed. Fuzzy control strategy research. The engagement of the clutch is influenced by the driver's intention and the internal and external conditions of forklift operation. These factors constitute a nonlinear time-varying system which is difficult to achieve precise control by mathematical modeling. According to these characteristics of the system, the fuzzy control strategy is proposed, and the design of the fuzzy controller for the starting and shifting process of the forklift truck is completed with the help of the MATLAB platform. Finally, the fuzzy control strategy is simulated and analyzed by using GUI. The experimental results show that the proposed fuzzy control strategy achieves the desired purpose, the AMT of forklift truck can realize the functions of automatic clutch and shift, and the controller can adjust the control strategy in time according to the driver's intention and the change of the operating conditions of the forklift truck.
【学位授予单位】：广西大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH242;TP273.4

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