电动叉车线控转向系统的建模与仿真研究

发布时间：2018-03-29 03:14

本文选题：线控转向系统　切入点：电动叉车　出处：《合肥工业大学》2015年硕士论文

【摘要】：线控转向系统是一种应用在车辆领域的动力转向系统,是当今转向技术领域的研究热点和前沿技术之一。其主要特征是用控制信号取代了转向盘和转向车轮之间的机械连接,完全摆脱了传统转向系统的各种限制,不但可以自由设计转向时的力传递特性,而且可以设计转向时的角传递特性,给车辆转向特性的设计带来了无限的空间,提高了车辆的转向性能,是转向系统的重大革新。作为衡量电动叉车性能的一项关键技术,转向性能的好坏对于叉车能否灵活工作具有很大的影响。因此,开展电动叉车线控转向系统的研发工作具有重要的理论和实际意义。本文首先综述了线控转向技术的发展现状和国内外线控转向系统的研究现状。接着对线控转向系统的结构原理、性能特点以及关键技术作了简单阐述。在此基础上,建立了线控转向叉车的动力学模型和车辆二自由度整车模型。为了满足叉车的操作稳定性对转向所提出的要求,在分析转向系统角传动比的影响因素后,提出理想角传动比的概念。并在理想角传动比的理论基础上,设计出合适的目标前轮转角控制算法。为进一步改善车辆的转向特性,给出了线控转向系统的PID控制算法,通过仿真试验分析可以看出,该算法具有较好的调节效果,能增强叉车的操作稳定性和安全性。最后,进行路感模拟的控制,首先对转向电机的力矩进行了控制,这是实现路感模拟的前提,要求电机必须输出转矩平稳,具有实时的跟随性。此外,路感模拟是通过路感电机输出合适的力矩反馈给驾驶员,并通过对路感电机的目标电流进行控制而实现的。
[Abstract]:Linear steering system is a kind of power steering system applied in vehicle field. It is one of the research hotspots and frontier technologies in the field of steering technology. Its main characteristic is that the mechanical connection between steering wheel and steering wheel is replaced by control signal. Completely getting rid of all kinds of limitation of the traditional steering system, not only can the force transfer characteristic of the steering system be designed freely, but also the angle transfer characteristic of the steering system can be designed, which brings infinite space to the design of the steering characteristic of the vehicle. As a key technology to measure the performance of electric forklift, the steering performance has a great influence on whether the forklift can work flexibly. It is of great theoretical and practical significance to develop the wire steering system of electric forklift. Firstly, this paper summarizes the development status of wire steering technology and the research status of wire steering system at home and abroad. The structural principle of the directional system, The performance characteristics and key technologies are briefly described. On the basis of this, the dynamic model of the wire steering forklift truck and the vehicle two-degree-of-freedom vehicle model are established. In order to meet the requirements of the steering of the forklift truck operating stability, the dynamic model of the forklift truck is established. After analyzing the influence factors of angle transmission ratio of steering system, the concept of ideal angle transmission ratio is put forward. On the basis of the theory of ideal angle transmission ratio, an appropriate control algorithm for the steering angle of the target front wheel is designed to further improve the steering characteristics of the vehicle. The PID control algorithm of the wire steering system is given. The simulation results show that the algorithm has a good adjusting effect and can enhance the operation stability and safety of the forklift truck. Finally, the road sense simulation control is carried out. First of all, the torque of steering motor is controlled, which is the premise of road sense simulation. It requires the motor output torque to be stable and real-time follow. The road sense simulation is realized through the output of proper torque feedback to the driver and the control of the target current of the road sense motor.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH242

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