BZT1000T驮桥车行走同步控制系统设计与研究

发布时间：2018-06-09 20:10

本文选题：驱动系统 + 同步控制　；参考：《燕山大学》2014年硕士论文

【摘要】：BZT1000T驮桥车是用于桥梁改造项目的专用车辆。其中行走驱动控制系统的合理设计是保证驮桥车稳定、安全运行的关键。针对该车在施工过程中出现的打滑及行走不同步等一系列问题，需要对驱动同步控制系统进行重新设计。首先，考虑到驮桥车的运行工况，本文设计了液压行走驱动系统，并进行关键元件的计算及选型。本文对车速检测及计算作了介绍，并提出了计算车速的新方法，，从而减小了计算误差，为后续车速控制提供了理论依据。考虑到驮桥车的行走稳定性，介绍了驮桥车的动力特性及调速原理。针对驮桥车在行走过程中出现的打滑现象，采用电液换向阀进行防打滑设计。其次，本文采用基于S-C模块的方法对泵控马达系统设计PID控制器，并用Matlab软件对系统建模仿真，得到较稳定的马达转速响应曲线。在设计了PID控制器的基础上，本文摒弃了将马达转速或者车速作为最终控制目标的传统方法，采用将1号车和2号车的位移作为控制目标，分别用并行同步控制、主从同步控制以及交叉耦合控制策略对两车的行走同步系统进行建模及仿真分析。得出采用交叉耦合控制方案在大负载及偏载严重的情况下仍能保证两车同步，较其他两种控制策略的同步效果有明显改善，为工程车辆实现双车同步提供了理论基础。最后，通过对驮桥车行走系统所要实现功能进行分析，设计了基于CAN总线的驱动系统控制方案，并选择相应的电控元件。在此基础上利用CoDeSys软件对驮桥车行走控制系统编写控制程序。
[Abstract]:The BZT 1000 T piggyback car is a special vehicle used in bridge reconstruction project. The reasonable design of the driving control system is the key to ensure the stable and safe operation of the piggyback vehicle. In view of a series of problems such as skidding and non-synchronization of the vehicle during construction, it is necessary to redesign the drive synchronous control system. Firstly, considering the operating conditions of the piggyback truck, the hydraulic driving system is designed. The key components are calculated and selected. This paper introduces the speed detection and calculation, and puts forward a new method to calculate the speed, which reduces the calculation error and provides the theoretical basis for the subsequent speed control. Considering the running stability of piggyback vehicle, the dynamic characteristics and speed regulation principle of piggyback vehicle are introduced. In view of the skidding phenomenon of piggyback vehicle in the course of walking, the electro-hydraulic directional valve is used to design the anti-skid. Secondly, the pid controller is designed for the pump control motor system based on S-C module, and the system is modeled and simulated by Matlab software. Based on the design of pid controller, the traditional method of taking motor speed or speed as the ultimate control objective is abandoned, and the displacement of car 1 and 2 is used as the control target. The parallel synchronous control, master-slave synchronous control and cross-coupling control strategy are used to model and simulate the synchronous system of two vehicles. It is concluded that the cross-coupling control scheme can still guarantee the synchronization of two vehicles under heavy load and heavy eccentric load, and the synchronization effect of the other two control strategies is obviously improved, which provides a theoretical basis for the realization of dual vehicle synchronization in engineering vehicles. Based on the analysis of the function of the piggyback vehicle walking system, the control scheme of the driving system based on can bus is designed, and the corresponding electronic control elements are selected. On the basis of this, CoDeSys software is used to compile the control program for the traveling control system of the piggyback wagon.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U445.3

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