全地面起重机多桥转向系统模糊PID控制研究

发布时间：2018-01-09 14:31

本文关键词：全地面起重机多桥转向系统模糊PID控制研究　出处：《燕山大学》2012年硕士论文　论文类型：学位论文

【摘要】：全地面起重机结合了汽车起重机的快速转移、越野轮胎起重机的越野和负重行驶的特点，具有更加优越的起重性能；更强的越野能力；结构紧凑，行驶稳定性更好；整机重量分配更均衡；底盘悬挂方式为油气悬架，，减震效果明显；能根据路面的状况自动调整车架以提高行驶性能和通过能力；爬坡能力更强；全轮转向，多桥驱动，转弯半径小；拥有多种行驶模式，使用范围更广；支腿跨距大，作业稳定性好；可以不受前方区域的限制，360度全方位作业等。目前国内一些主机厂研究、开发的全地面起重机与国外产品比较还是存在一定的差距，主要表现在起重性能、产品可靠性和前沿技术的应用等方面。因此全地面起重机底盘设计技术中的独有技术：油气悬架系统和多桥转向系统的研发和设计有着十分重要的意义。本课题主要针对全地面起重机多桥转向系统的模糊PID控制进行研究。首先，以全地面起重机为原型，根据阿克曼转向原理建立多桥转向系统的线性二自由度模型，得出车辆运动状态方程，以及影响车辆运动特性的相关参数，分析全地面车辆多桥转向系统在全轮转向模式下的动态性能；其次，建立单桥转向执行机构——比例阀控液压缸的数学模型，分析该闭环系统的稳定性，用MATLAB/simulink建立模糊PID控制器后进行控制系统仿真，与常规PID控制系统的响应结果进行对比。最后，以全地面起重机QAY50为实验对象，分别对转向系统在不同的系统压力、不同的载荷以及不同的转向输入速度的动态响应性能进行实验，分析系统压力、载荷、转向速度对动态转向特性的影响。对转向系统的实验结果与仿真结果、理论结果进行比较，得出转向速度快慢对转向系统的快速性和准确性的影响。
[Abstract]:The all-ground crane combines the rapid transfer of the truck crane, the off-road and load driving characteristics of the off-road tire crane, and has more superior lifting performance. Stronger cross-country ability; Compact structure, better driving stability; The weight distribution of the whole machine is more balanced; Chassis suspension is oil and gas suspension, the effect of shock absorption is obvious; Can automatically adjust the frame according to the condition of the road to improve the driving performance and passing ability; Stronger climbing ability; Full-wheel steering, multi-bridge drive, small turning radius; Has a variety of driving modes, a wider range of use; Long span of leg, good stability of operation; Can not be restricted by the front area of 360 degrees of full-directional operation and so on. At present, there is still a certain gap between the developed all-ground crane and foreign products, mainly in the lifting performance. Therefore, the development and design of hydro-pneumatic suspension system and multi-bridge steering system are of great significance. This paper mainly focuses on the fuzzy PID control of multi-bridge steering system of all-ground crane. Firstly, taking the all-ground crane as the prototype. According to Ackermann steering principle, the linear two-degree-of-freedom model of multi-axle steering system is established, and the vehicle motion state equation and the related parameters affecting the vehicle motion characteristics are obtained. The dynamic performance of multi-bridge steering system of all-ground vehicle under full-wheel steering mode is analyzed. Secondly, the mathematical model of proportional valve controlled hydraulic cylinder with single axle steering actuator is established, and the stability of the closed loop system is analyzed. After the fuzzy PID controller is built by MATLAB/simulink, the control system is simulated and compared with the response result of the conventional PID control system. Finally, taking the all-ground crane QAY50 as the experimental object, the dynamic response performance of the steering system under different system pressure, different load and different steering input speed is tested. The effects of system pressure, load and steering speed on dynamic steering characteristics are analyzed. The experimental results and simulation results of the steering system are compared with the theoretical results. The influence of speed and speed of steering on the speed and accuracy of steering system is obtained.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH213.6

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