滑移装载机转向性能和铲斗平移控制研究

发布时间：2018-05-18 22:14

本文选题：滑移装载机 + 转向性能　；参考：《吉林大学》2012年硕士论文

【摘要】：随着我国经济建设的发展，小型工程机械的市场越见明朗，市场需求量逐渐增加。由于其体积小、机动灵活性好，性能也逐渐赶超大中型工程机械，小型工程机械开始发挥作用。作为小型工程机械的代表机型，滑移装载机转向半径小、挂接不同的附件时可实现多种作业内容，因此广泛应用于作业场地狭小、作业内容复杂多变的工程项目中。我国对滑移装载机的研究刚刚起步，设计过程中可参考资料很少，用户对滑移装载机的认识尚浅，该领域长期被国外工程机械商所垄断。为普及广大用户对滑移装载机的认识，加快我国滑移装载机的设计研究进程，本文以GM750滑移装载机为研究对象，从以下几个方面进行了探讨。首先从宏观上介绍了滑移装载机的主机结构、传动系统、转向原理和工作装置；在此基础上进行了整机的受力分析，包括桥荷分布情况的研究和转向阻力的计算，提出了滑移转向条件。然后对工作装置进行了运动学和动力学分析，得出了动臂举升过程中铲斗平移条件和系统动力学方程。应用ADAMS软件对GM750滑移装载机进行了实体建模和工作过程仿真。最后采用ATmega16单片机，进行了铲斗平移控制系统的硬件设计，构建了信号采集、传输以及信息处理的平台；并选择采用数字PID控制器实现铲斗的平移控制。基于Matlab/simulink平台对平移控制系统进行了数学建模和仿真，，从而得到了控制系统的性能参数。本文所提出的滑移转向条件和工作装置仿真结果为滑移装载机转向系统和工作装置的设计奠定了理论基础。同时提供了一种铲斗平移控制器硬件设计的基本方法，这些研究理论和方法可以应用于滑移装载机的设计开发。
[Abstract]:With the development of economic construction in our country, the market of small-scale construction machinery is more and more clear, and the market demand is increasing gradually. Because of its small size, good flexibility and performance, small-scale construction machinery began to play a role. As the representative model of small scale construction machinery, slip loader has small steering radius and can realize many kinds of operation contents when hanging different accessories, so it is widely used in engineering projects with narrow working space and complicated and changeable operation contents. In our country, the research on slip loader is just beginning, there are few reference materials in the design process, and the user's understanding of slip loader is still shallow, and this field has been monopolized by foreign construction machinery manufacturers for a long time. In order to popularize the understanding of slip loaders and speed up the design and research process of slip loaders in China, this paper takes GM750 sliding loaders as the research object and discusses them from the following aspects. First of all, the main structure, transmission system, steering principle and working device of slip loader are introduced, and the mechanical analysis of the whole machine is carried out, including the study of bridge load distribution and the calculation of steering resistance. The slip steering condition is proposed. Then the kinematics and dynamics analysis of the working device is carried out, and the conditions of bucket translation and the system dynamic equation during the lifting process of the moving arm are obtained. The solid modeling and working process simulation of GM750 slip loader are carried out by using ADAMS software. Finally, the hardware design of the bucket translation control system is carried out by using ATmega16 single chip microcomputer, and the platform of signal acquisition, transmission and information processing is constructed, and the digital PID controller is chosen to realize the displacement control of the bucket. Based on the Matlab/simulink platform, the mathematical modeling and simulation of the translation control system are carried out, and the performance parameters of the control system are obtained. The slip steering conditions proposed in this paper and the simulation results of the working device lay a theoretical foundation for the design of the steering system and the working device of the slip loader. At the same time, this paper provides a basic method of hardware design of bucket translation controller, which can be applied to the design and development of slip loader.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH243

【引证文献】