矿用车前桥静液辅助驱动系统的研究

发布时间：2019-03-20 18:43

【摘要】：作为矿石的主要运输工具,矿用车主要作业于道路条件极其恶劣的矿山,因此经常会遇到冰雪、泥浆等附着系数非常低的路面,而由此造成的车轮打滑会使得矿用车的驱动性能大打折扣。为提高矿用车的驱动能力,本文在原6×4矿用车车型的基础上,设计添加前桥静液辅助驱动系统。综合考虑矿用车的实际运行状况,采用具有自由轮功能的液压轮毂马达作为驱动车轮的终端元件,其转速由变量泵排量调节进行控制。由此确定前桥静液辅助驱动系统的结构布置方案,并对液压系统主要元件进行参数匹配。然后根据矿用车的工作要求,利用AMESim软件设计具有自由轮、辅助驱动、辅助制动、举升四种工作模式的液压回路,并对此回路进行功能性仿真,仿真结果满足矿用车的功能性需求。在建立辅助驱动轮轮毂马达转速控制模型的基础上,采用PID串联校正对马达输出转速进行跟随主驱动轮转速的控制,以保证加入静液辅助驱动系统以后矿用车能够满足主、辅驱动轮协调运转的基本要求。为提高控制系统的稳定性与自适应能力,在PID反馈控制的基础上加入神经网络监督控制,形成反馈+前馈的控制方式。采用MATLAB脚本文件对此控制方式进行仿真,结果表明辅助驱动轮转速控制模型在参考电压的输入下可以对液压马达转速实现精确控制。为确保矿用车在遇到不同路面时静液辅助驱动系统能够合理、自动、及时地开启与关闭,本文提出通过后轮平均滑转率与当前档位决定辅助驱动系统开闭的控制策略。为精确计算后轮滑转率,本文采用无迹卡尔曼滤波对整车车速进行估计,同时实现滤波功能。最后,在MATLAB/Simulink软件中建立整车的动力学模型、Pacejka89轮胎模型、车速估计模型、辅助驱动系统切换模型以及轮速跟踪模型,并对这些模型进行相关仿真,结果表明无迹卡尔曼滤波可以对车速进行精确估计并且同时实现滤波功能,辅助驱动系统可以在设定的情况下及时开启与关闭,静液辅助驱动系统开启后可以提高整车的驱动性能。
[Abstract]:As the main means of transporting ore, mining vehicles operate mainly in mines with extremely poor road conditions, so they often encounter roads with very low adhesion factors, such as ice, snow, mud, and so on. And the resulting wheel slippage will make the driving performance of the mine car greatly discounted. In order to improve the driving ability of the mine car, this paper designs and adds the front axle hydrostatic assistant drive system on the basis of the original 6 脳 4 mine vehicle model. Considering the actual running condition of the mine car, the hydraulic wheel hub motor with the function of free wheel is used as the terminal component of the driving wheel. The speed of the wheel is controlled by variable pump displacement. The structure layout scheme of the hydrostatic assistant drive system of the front axle is determined and the parameters of the main components of the hydraulic system are matched. Then according to the working requirements of the mine car, the hydraulic circuit with four working modes of free wheel, auxiliary drive, auxiliary braking and lifting is designed by using AMESim software, and the functional simulation of this circuit is carried out. The simulation results meet the functional requirements of mining vehicles. On the basis of establishing the speed control model of the auxiliary drive wheel hub motor, PID series correction is used to control the output speed of the motor to follow the speed of the main drive wheel, so as to ensure that the mine car can satisfy the main speed after adding the hydrostatic assistant drive system. Basic requirements for coordinated operation of auxiliary drive wheels. In order to improve the stability and adaptive ability of the control system, neural network supervisory control is added to the PID feedback control to form a feedback feedforward control mode. The MATLAB script file is used to simulate the control method. The results show that the auxiliary drive wheel speed control model can accurately control the speed of hydraulic motor under the input of reference voltage. In order to ensure that the hydrostatic assistant drive system can be opened and closed reasonably, automatically and in time when the mine car encounters different road surface, this paper puts forward a control strategy that determines the opening and closing of the auxiliary drive system by means of the average slip rate of the rear wheel and the current gear position to determine the opening and closing of the auxiliary drive system. In order to calculate the slip rate accurately, unscented Kalman filter is used to estimate the vehicle speed, and the filtering function is realized at the same time. Finally, the vehicle dynamics model, Pacejka89 tire model, vehicle speed estimation model, auxiliary drive system switching model and wheel speed tracking model are established in MATLAB/Simulink software, and these models are simulated. The results show that the unscented Kalman filter can accurately estimate the vehicle speed and realize the filtering function at the same time. The auxiliary drive system can be turned on and off in time when the system is set. After the hydrostatic auxiliary drive system is turned on, the driving performance of the vehicle can be improved.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U469.6

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