高空作业车举升臂液压控制系统分析与设计

发布时间：2018-03-14 04:29

本文选题：高空作业车　切入点：举升机构　出处：《重庆交通大学》2012年硕士论文　论文类型：学位论文

【摘要】：随着高空作业需求的不断增长，为高空作业车带来空前的发展机遇。高空作业车的主要作用是安全、平稳地运送操作人员和维修器材到达指定高度位置处进行空中作业。本论文选题来源于重庆市科技攻关项目“高空作业车执行系统关键技术及应用”（CSTC2009AC6077），通过计算机仿真的方法模拟了高空作业车的举升作业过程；计算了举升臂液压缸的结构参数并进行稳定性校核。根据高空作业车的作业特点设计了举升臂的液压回路，并进行了AMESim仿真分析。建立了作业平台调平机构的电液数学模型，并进行了响应特性分析。根据作业操纵方式的特点，设计了一种上、下车分布式控制方案。本课题主要完成了以下研究：（1）建立了折叠臂式高空作业车举升臂机构的三维模型，应用多体动力学软件ADAMS通过分段函数驱动的方法模拟了举升臂的运动过程，通过动力学分析得到了举升臂机构在额定载荷变幅时执行液压缸的受力情况，由动力学仿真结果设计了执行液压缸的结构参数，并进行了液压缸稳定性校核。（2）作业平台调平作为高空作业车的一项关键技术，其工作的稳定性和可靠性对于操作人员的人生安全和操作舒适性有很大的影响。本文设计了电液比例调平机构对作业平台进行控制，为了保证平台调平的稳定性，建立了电液比例调平系统的数学模型，运用经典控制理论中的频域分析方法，，利用Matlab/Simulink对系统的稳定性进行了分析，仿真结果得到了最佳的系统开环放大系数以保证调平系统的稳定性。（3）文中设计了一种具有负载敏感和压力补偿的举升机构液压回路，该液压回路可以实现举升液压缸的速度不随负载的变化而变化，从而保证作业臂的连续均匀变幅。采用AMESim软件对举升执行机构液压系统进行了仿真分析，仿真结果表明当采用具有压力补偿功能的换向阀时，变幅液压缸的速度能够维持稳定，系统的响应速度得到提高，使变幅动作均匀，有利于提高变幅的安全性和作业人员的舒适性。（4）为了实现上、下车的分布控制，本文设计了一种基于CAN总线的分布式控制器，控制器分别位于下车的转台操作柜和上车的作业斗操作平台，这对提高作业效率和作业时的安全性具有重要的意义。
[Abstract]:With the increasing demand for aerial work, it brings unprecedented opportunities for the development of aerial vehicles. The main role of aerial vehicles is safety, The topic of this thesis is from the key technology and application of aerial work vehicle execution system of Chongqing science and technology research project "CSTC2009AC6077", through computer. The method of simulation simulates the lifting operation process of aerial work vehicle. The structural parameters of the lifting arm hydraulic cylinder are calculated and the stability is checked. The hydraulic circuit of the lifting arm is designed according to the operating characteristics of the aerial work vehicle, and the AMESim simulation analysis is carried out. The electro-hydraulic mathematical model of the leveling mechanism of the working platform is established. According to the characteristics of operation control mode, a distributed control scheme is designed. This subject mainly completed the following research:. In this paper, a three-dimensional model of lifting arm mechanism of folding arm aerial work vehicle is established, and the motion process of lift arm is simulated by using multi-body dynamics software ADAMS, which is driven by piecewise function. Through the dynamic analysis, the stress of the lifting arm mechanism is obtained when the rated load changes. The structural parameters of the hydraulic cylinder are designed by the dynamic simulation results, and the stability of the hydraulic cylinder is checked. Operation platform leveling as a key technology of aerial vehicle, The stability and reliability of its work have a great influence on the safety and comfort of the operator. In this paper, the electro-hydraulic proportional leveling mechanism is designed to control the operating platform, in order to ensure the stability of the platform leveling. The mathematical model of electro-hydraulic proportional leveling system is established, and the stability of the system is analyzed by using the frequency domain analysis method of classical control theory and Matlab/Simulink. The simulation results show that the optimal open-loop magnification factor is obtained to ensure the stability of the leveling system. In this paper, a kind of hydraulic circuit of lifting mechanism with load sensitivity and pressure compensation is designed, which can realize that the speed of lifting hydraulic cylinder does not change with the change of load. AMESim software is used to simulate and analyze the hydraulic system of lifting actuator. The simulation results show that the speed of the variable amplitude hydraulic cylinder can be maintained stable when the directional valve with pressure compensation function is adopted. The response speed of the system is improved, and the amplitude change is uniform, which is helpful to improve the safety and comfort of the operators. In order to realize the distributed control, a distributed controller based on CAN bus is designed in this paper. The controller is located in the turntable operation cabinet and the job hopper operating platform, respectively. It is of great significance to improve the efficiency and safety of work.
【学位授予单位】：重庆交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH21

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