自行式框架车液压控制系统设计与性能研究

发布时间：2018-01-21 11:00

本文关键词： 自行式框架车闭式液压驱动系统悬架液压系统负载敏感恒压控制伺服超驰控制液压延时　出处：《燕山大学》2014年博士论文　论文类型：学位论文

【摘要】：钢铁工业是一个运输密集型的行业，，物流成本在整个生产成本中占有较大的比重。无轨运输因其投资小、占地少、机动灵活、运行畅通、效率高等优点较铁路运输对于减小物流成本具有显著的效果。发达国家的厂区物料运输多采用无轨运输，物流成本只占总成本的8%~10%，而我国仍以铁路运输为主导，物流成本占总成本的30%，因此无轨运输已经成为我国钢铁行业物料运输的发展趋势。自行式框架车因其可配合料篮完成各种钢铁企业厂内物料转运作业、工作效率高、载重量大、操作简单、性能优良等优点成为无轨运输的主力军。车辆优良的电液控制系统是自行式框架车在高速、大载荷的工况下长期运行的必要条件。本文以自行式框架车电液控制系统重要的两大组成部分：闭式液压驱动系统和悬架液压系统为研究对象，结合实际应用中暴露的问题，对闭式液压驱动系统和悬架液压系统的操控性、安全性和平顺性进行了深化研究，主要研究内容如下： (1)针对自行式框架车行驶速度快、机动性好的工作要求，设计车辆新型闭式液压驱动系统，改进设计车辆的差速与差力控制功能；为进一步提高车辆的操控性与安全性设计车辆的启动液压延时预警系统和闭式液压驱动系统的过滤装置。 (2)为优化变量泵的排量控制，解决悬架液压系统、转向液压系统和辅助液压系统与闭式液压驱动系统功率需求间的矛盾，采用了一种新型的复合控制方式——伺服超驰控制技术，并分析该控制方式的工作原理动态特性。 (3)为满足厂内物流运输对车身高度可调性以及四点悬架驱动同步性的要求，设计具有保压和失压保护功能的悬架电液控制系统；为克服自行式框架车悬架液压系统与转向液压系统对油源控制形式需求差异的矛盾，研制一种负载敏感液压泵的恒压变量控制装置。 (4)针对自行式框架车四点悬架同步升降系统存在的耦合性、非线性、模型参数不确定性的特点，提出一种基于多点输出耦合的模糊PID多缸同步驱动控制策略，并通过仿真分析与实验分析验证其有效性。 (5)针对自行式框架车额定载荷大、行驶速度快、受地面冲击大的特点，在传统自行式液压载重车定刚度液压弹簧悬架的基础上，改进设计适应自行式框架车作业要求的悬架液压系统；提出悬架液压系统顺应性的评价指标，并且在MATLAB/Simulink环境中模拟分析随机路面输入下，自行式框架车在空载与满载两种工况下，两种悬架液压系统的顺应性；最后通过现场对比实验验证改进后的悬架液压系统对于改善车辆行驶平顺性的效果。 (6)设计基于USB7360A型数据采集卡的硬件采集系统和LabVIEW的数据采集处理软件系统，对车辆的闭式液压驱动系统、悬架液压系统和转向液压系统的关键参数进行测试，来验证理论设计的合理性。
[Abstract]:Iron and steel industry is a transportation-intensive industry, logistics costs account for a large proportion of the total production costs. Trackless transportation because of its small investment, less land, flexible and smooth operation. The advantages of high efficiency are more effective than railway transportation in reducing the logistics cost. In the developed countries, the material transportation in the factory area adopts trackless transport, and the logistics cost only accounts for 810% of the total cost. But our country still takes the railway transportation as the leading factor, the logistics cost accounts for 30% of the total cost, so the trackless transportation has become the development trend of the material transportation in the iron and steel industry of our country. Self-propelled frame car can be used to complete all kinds of material transfer operations in iron and steel enterprises because of its high efficiency, large load and simple operation. Excellent performance has become the main force of trackless transportation. The excellent electro-hydraulic control system of the vehicle is self-propelled frame car at high speed. This paper focuses on two important components of the electro-hydraulic control system of self-propelled frame vehicle: closed hydraulic drive system and suspension hydraulic system. Combined with the problems exposed in practical application, the maneuverability, safety and ride comfort of the closed hydraulic drive system and suspension hydraulic system are further studied. The main research contents are as follows: 1) aiming at the requirement of high speed and good maneuverability of self-propelled frame vehicle, a new type of closed hydraulic drive system is designed to improve the differential speed and differential force control function of the designed vehicle. In order to further improve the maneuverability and safety of the vehicle, the filter device of the starting hydraulic delay warning system and the closed hydraulic drive system of the vehicle is designed. In order to optimize the displacement control of variable pump, solve the contradiction between hydraulic system of suspension, steering hydraulic system and auxiliary hydraulic system and closed hydraulic drive system. In this paper, a new compound control method, servo overpass control technology, is adopted, and the dynamic characteristics of the control principle are analyzed. In order to meet the requirements of high adjustable vehicle body and four point suspension drive synchronism, a suspension electro-hydraulic control system with the function of keeping pressure and losing voltage is designed. In order to overcome the contradiction between hydraulic system of self-propelled frame car suspension and steering hydraulic system, a constant pressure variable control device of load sensitive hydraulic pump is developed. (4) aiming at the characteristics of coupling, nonlinearity and uncertainty of model parameters, the synchronous lifting system of self-propelled frame car four-point suspension is characterized by coupling, nonlinearity and uncertainty of model parameters. A fuzzy PID multi-cylinder synchronous drive control strategy based on multi-point output coupling is proposed, and its effectiveness is verified by simulation and experimental analysis. In view of the characteristics of the self-propelled frame vehicle, such as large rated load, fast driving speed and large impact from the ground, it is based on the traditional self-propelled hydraulic truck with fixed stiffness hydraulic spring suspension. To improve the design of suspension hydraulic system to meet the operational requirements of self-propelled frame car; The evaluation index of the compliance of suspension hydraulic system is put forward, and the self-propelled frame car is simulated and analyzed in the MATLAB/Simulink environment under two conditions of no-load and full-load. Compliance of two kinds of suspension hydraulic system; Finally, the effect of the improved suspension hydraulic system on improving the ride comfort of the vehicle is verified by field contrast experiments. The hardware acquisition system based on USB7360A data acquisition card and the data acquisition and processing software system of LabVIEW are designed. The closed hydraulic driving system of the vehicle is designed. The key parameters of suspension hydraulic system and steering hydraulic system are tested to verify the rationality of theoretical design.
【学位授予单位】：燕山大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：TF086;TH137

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