基于联合仿真的平衡重式叉车横向稳定性控制研究

发布时间：2018-02-26 11:14

本文关键词： 平衡重式叉车横向稳定性虚拟样机侧倾控制联合仿真　出处：《合肥工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：平衡重式叉车作为最常用的物料搬运机械,广泛应用于各大领域,由于车架与转向桥特殊铰接结构的特点,加之起升机构所载货物也会偏移,从而导致整车质心位置易于变化,因而其横向稳定性较差。当叉车在急转弯或驾驶员操作不当时,一旦整车质心位置超出稳定区域,就会导致横向失稳甚至翻车。国内对叉车横向稳定性控制的研究和分析才开始起步,大部分叉车还没有装备横向稳定性控制系统产品,安全性极低。本文针对某型3吨平衡重式叉车,在横向稳定性理论分析的基础上,确定了影响叉车横向稳定性的关键因素,基于ADAMS建立了平衡重式叉车整车虚拟样机模型,在多种工况下运行仿真,并提出了侧倾分级的控制策略,在Simulink中设计了侧倾分级的模糊控制器和变论域模糊控制器,并基于ADAMS和Simulink进行联合仿真,最后设计了平衡重式叉车横向稳定性控制系统并完成了实车试验,全文工作内容归纳如下:(1)依据平衡重式叉车的结构特点,研究其横向稳定性的主要影响因素及侧倾机理,基于力学分析方法建立了平衡重式叉车七自由度模型及运动微分方程,分析其横向失稳的临界条件。(2)基于ADAMS建立平衡重式叉车整车虚拟样机模型,并进行转向机构优化,设计一种新型的三连杆液压支承调整机构作为防侧倾的执行机构,在多种工况下进行平衡重式叉车横向稳定性的运动学和动力学仿真,选取表征侧倾程度的变量,确定其大小范围及侧倾时的临界值。(3)基于仿真分析结果,提出侧倾分级的横向稳定性控制策略,并基于模糊控制算法在MATLAB/Simulink中设计了一级侧倾模糊控制器和二级侧倾模糊控制器;借助变论域自适应模糊控制理论知识,设计了侧倾分级变论域模糊控制器。(4)基于ADAMS和MATLAB/Simulink进行联合仿真分析,采用平衡重式叉车动态稳定性验证的欧洲标准工况,验证了侧倾分级模糊控制能够有效改善叉车的侧倾情况。(5)完成了平衡重式叉车横向稳定性控制系统电路原理图、PCB制版及样机设计,并进行实车试验,由于试验采集数据与仿真结果契合度较高,验证了整车虚拟样机模型的准确性及侧倾分级控制策略、横向稳定性控制系统的有效性,实现了本课题的设计目标。
[Abstract]:As the most commonly used material handling machinery, the balanced heavy forklift is widely used in various fields. Due to the characteristics of the special hinged structure of the frame and the steering bridge and the deviation of the cargo carried by the lifting mechanism, the center of mass position of the whole vehicle is easy to change. When the forklift is on a sharp turn or the driver is not operating properly, once the center of mass of the whole vehicle exceeds the stable area, This will lead to lateral instability or even overturning. Domestic research and analysis on lateral stability control of forklift trucks have only started. Most forklifts have not been equipped with horizontal stability control system products. The safety is extremely low. Based on the theoretical analysis of lateral stability, the key factors affecting the lateral stability of a 3-ton balanced forklift truck are determined, and the virtual prototype model of the balanced forklift truck is established based on ADAMS. The simulation is carried out under various operating conditions, and the control strategy of roll classification is put forward. The fuzzy controller and variable universe fuzzy controller are designed in Simulink, and the simulation is carried out based on ADAMS and Simulink. Finally, the lateral stability control system of the balanced forklift truck is designed and the actual vehicle test is completed. The whole work is summarized as follows: (1) according to the structural characteristics of the balanced forklift truck, the main influencing factors and the roll mechanism of its lateral stability are studied. Based on the mechanical analysis method, the seven degree of freedom model and the differential equation of motion of the balanced heavy forklift are established, and the critical condition of its lateral instability is analyzed. (2) based on ADAMS, the virtual prototype model of the balanced forklift truck is established, and the steering mechanism is optimized. A new three-link hydraulic support adjusting mechanism is designed as the anti-roll actuator. The kinematics and dynamics simulation of the lateral stability of the balanced forklift truck is carried out under a variety of working conditions, and the variables that characterize the degree of roll are selected. Based on the results of simulation analysis, a lateral stability control strategy of roll classification is proposed, and a first-order roll fuzzy controller and a two-stage roll fuzzy controller are designed in MATLAB/Simulink based on fuzzy control algorithm. With the help of the theory knowledge of variable universe adaptive fuzzy control, this paper designs a roll gradient variable universe fuzzy controller. It is based on ADAMS and MATLAB/Simulink to carry on the joint simulation analysis, and adopts the European standard working condition of dynamic stability verification of balanced heavy forklift truck. It is verified that the roll classification fuzzy control can effectively improve the roll condition of forklift. (5) the circuit schematic diagram of the control system of horizontal stability of the balanced forklift and the design of the PCB and the prototype are completed, and the actual vehicle test is carried out. The accuracy of the virtual prototype model and the roll classification control strategy are verified because of the high agreement between the experimental data and the simulation results. The lateral stability control system is effective and the design goal of this subject is achieved.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH242

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