重型叉车自动换挡关键技术研究

发布时间：2018-03-10 04:35

本文选题：叉车自动变速　切入点：变矩器性能优化　出处：《合肥工业大学》2013年博士论文　论文类型：学位论文

【摘要】：本文根据皖政文件（〔2009〕108号）关于加快推进“重大科技项目”实施的背景，对重型叉车自动变速器项目进行了研究，同时本文的研究工作也得到国家自然科学基金项目“平衡重式叉车底盘系统横向稳定性集成控制研究”（51205101）和安徽省十二五科技攻关项目“工程机械自动变速控制系统”（12010202032）的支持与资助。项目的实施将提高国内叉车核心零部件的水平，填补国内在该领域的空白;文中针对叉车的特殊工作特点，在改善换挡经济性，尤其是在影响传动系统效率较大的变矩器的性能提升研究方面，进行了大量的基础工作，同时在换挡规律和平顺性、以及特殊工况，如低附着路面、坡道等进行了测试、研究、仿真、试验，主要研究内容和结论如下：（1）运用DOE方法对液力变矩器叶栅相关参数进行敏感性研究。在建立液流广义的环坐标系的基础上，对叶片数据进行计算、分析，并提炼出叶形设计流线的数学表达式，在此基础上进一步推导出新的变矩器原始特性表达式，完成对变矩器性能的优化，提升工作效率，并进行台架试验验证，此方法拓宽了变矩器研发的新途径。（2）针对叉车使用场所、工况的特殊性，提出了一种基于操作意愿、叉车工况和路面状态的分层递阶协调控制策略，实现了对不同工况的分析、决策、控制，优化了叉车对恶劣场所操作时换挡的适应性，，并获得满意的换挡效果，为叉车自动变速智能化控制策略的深入研究提供一定的理论参考。（3）坡道换挡是叉车行驶的典型工况，本文通过对重型叉车坡道换挡参数的测试及其对坡道换挡性能的影响分析，采用智能仿人控制的误差理论对坡道状态参数进行识别，同时运用模糊了控制理论建立了换挡数据库，并进行不同载荷下坡道自动换挡试验，有效地解决了传统叉车坡道换挡熄火、溜车以及离合器滑磨时间过长的缺点。（4）针对叉车起步换挡对其工作性能的影响十分重要的特点，通过分析湿式离合器分离、结合的运动过程，建立离合器换挡动力学模型，得到力学平衡方程，以及离合器传递的扭矩与结合力的关系。并对原变速器的液压控制系统进行重新设计，台架试验表明，新的控制系统比原系统具有更好的平顺性；同时，提出了一套叉车起步、换挡评价方法。（5）在MATLAB/simulink中建立叉车整车传动系统动力学模型，并对自动变速器及其零部件进行仿真研究，同时，基于ARM7开发平台进行叉车自动变速控制系统TCU软硬件设计，并对其按国家标准进行电磁兼容、抗震、防水等可靠性测试，台架和整车车试验表明，换挡可靠高，平顺性好，满足设计标准。通过重型叉车自动变速技术研究和产品开发，在叉车自动变速的关键技术方面取得一定突破，打破国外的技术壁垒，降低成本，提高产品综合性能，增加核心竞争力。
[Abstract]:According to the background of accelerating the implementation of "major science and technology project", this paper studies the automatic transmission project of heavy forklift truck. At the same time, the research work of this paper is also obtained from the project of National Natural Science Foundation of China, "Integrated control of lateral stability of balanced heavy forklift chassis system" (51205101) and the project of the 12th Five-Year Plan of Anhui Province, "automatic transmission control system of construction machinery". The implementation of the project will improve the level of core parts of forklift trucks in China. Aiming at the special working characteristics of forklift truck, this paper has carried out a lot of basic work in improving the shift economy, especially in the research of improving the performance of the torque converter, which affects the efficiency of the transmission system. At the same time, in the shift law and ride comfort, as well as special working conditions, such as low adhesion road, ramp and so on were tested, research, simulation, test, the main research contents and conclusions are as follows:. 1) the sensitivity of cascade parameters of hydraulic torque converter is studied by using DOE method. On the basis of establishing a generalized circular coordinate system of liquid flow, the blade data are calculated, analyzed, and the mathematical expressions of the blade design streamline are extracted. On the basis of this, a new expression of the original characteristic of the converter is derived, the performance of the converter is optimized, the working efficiency is improved, and the bench test is carried out. This method broadens the new way of the research and development of the converter. 2) aiming at the particularity of the working condition and the use place of forklift truck, this paper puts forward a hierarchical and hierarchical coordinated control strategy based on the operation will, the working condition of forklift truck and the road condition, which realizes the analysis, decision and control of different working conditions. The paper optimizes the adaptability of forklift to the operation of bad places, and obtains satisfactory gear shifting effect, which provides a certain theoretical reference for the in-depth study of intelligent control strategy of automatic speed change of forklift. Ramp shift is a typical driving condition of forklift truck. Through testing the shift parameters of heavy-duty forklift ramp and its influence on the shift performance of ramp, this paper uses the error theory of intelligent man-simulated control to identify the ramp state parameters. At the same time, the shift database is established by using fuzzy control theory, and the automatic shift test of slope track under different loads is carried out, which effectively solves the shortcomings of traditional forklift car slope shift flameout, running car and clutch sliding and grinding time too long. In view of the very important characteristics of the influence of the starting gear shift of the forklift truck on its working performance, by analyzing the separation of the wet clutch and the movement process, the dynamic model of the clutch shift is established, and the mechanical balance equation is obtained. And the relationship between the torque transmitted by the clutch and the binding force. The hydraulic control system of the original transmission is redesigned. The bench test shows that the new control system has better ride comfort than the original system, and at the same time, a set of forklift truck starting is put forward. Gearshift evaluation method. The dynamic model of the whole forklift transmission system is established in MATLAB/simulink, and the automatic transmission and its parts are simulated. At the same time, the software and hardware of the forklift automatic transmission control system TCU are designed based on the ARM7 development platform. The reliability tests of electromagnetic compatibility, seismic resistance and waterproofing are carried out according to the national standards. The tests on the bench and the whole vehicle show that the shift reliability is high, the ride comfort is good, and the design standard is satisfied. Through the research of automatic transmission technology and product development of heavy forklift truck, a certain breakthrough has been made in the key technology of automatic transmission of forklift truck, which can break the foreign technical barrier, reduce the cost, improve the comprehensive performance of the product and increase the core competitiveness.
【学位授予单位】：合肥工业大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：TH242

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