推土机工作装置自动控制系统研究
发布时间：2018-10-24 13:55
【摘要】：推土机是基础建设中主要应用的工程机械之一,通过对国产推土机的不足和缺点的分析,建立了推土机的工作装置自动控系统,以降低操作员劳动强度,提高作业质量和生产率。因此对推土机的工作装置自动控系统研究主要集中在以下方面:1、以国产推土机中液力机械传动推土机作为改造对象,通过分析得到传统推土机在液压系统中和工作过程中的不足和缺点,提出自动控制改造方案。确定了以微机控制单元(ECU)为控制核心,通过将原来的工作装置的液压系统中普通方向阀改造为电液比例方向阀,再在推土机的发动机,履带,液压缸等加装传感器,构成一个带有反馈的控制系统。通过比较三种常用控制信号的优缺点,最终确定以发动机的转速控制为主,滑转率控制为辅的复合控制策略。同时对微机控制单元(ECU),传感器的选择做了探究。2、建立了发动机,液压系统,土壤,滑转率的数学模型,进而建立整机模型。3、在MATLAB/Simulink中建立整机模型仿真框图。设计二种工作场地作为检验推土机工作装置自动控制系统性能好坏。通过仿真实验表明,本次推土机工作装置自动控制方案达到了预想结果,验证工作装置自动控制系统的稳定性和可行性。同时也为其他工程机械的自动化研究,提供一些新思路。
[Abstract]:Bulldozer is one of the main construction machinery used in basic construction. By analyzing the shortcomings and shortcomings of domestic bulldozer, the automatic control system of bulldozer's working device is established to reduce the labor intensity of operator. Improve work quality and productivity. Therefore, the research on the automatic control system of the working device of the bulldozer is mainly focused on the following aspects: 1. The hydraulic mechanical drive bulldozer in the domestic bulldozer is taken as the reform object. By analyzing the shortcomings and shortcomings of the traditional bulldozer in the hydraulic system and working process, the automatic control reform scheme is put forward. Taking the microcomputer control unit (ECU) as the control core, the conventional directional valve in the hydraulic system of the original working device is transformed into the electro-hydraulic proportional directional valve, and sensors are added to the engine, track and hydraulic cylinder of the bulldozer. Form a control system with feedback. By comparing the advantages and disadvantages of the three kinds of commonly used control signals, the compound control strategy, which is mainly controlled by engine speed and supplemented by slip rate control, is finally determined. At the same time, the selection of (ECU), sensor in microcomputer control unit is discussed. 2. The mathematical model of engine, hydraulic system, soil and slip rate is established, and then the whole machine model is established. 3. The simulation block diagram of the whole machine model is established in MATLAB/Simulink. Two kinds of working sites are designed to test the performance of bulldozer automatic control system. The simulation results show that the automatic control scheme of the bulldozer has achieved the expected results and verified the stability and feasibility of the automatic control system of the working device. At the same time, it also provides some new ideas for the automation research of other construction machinery.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TU623.5;TP273
[Abstract]:Bulldozer is one of the main construction machinery used in basic construction. By analyzing the shortcomings and shortcomings of domestic bulldozer, the automatic control system of bulldozer's working device is established to reduce the labor intensity of operator. Improve work quality and productivity. Therefore, the research on the automatic control system of the working device of the bulldozer is mainly focused on the following aspects: 1. The hydraulic mechanical drive bulldozer in the domestic bulldozer is taken as the reform object. By analyzing the shortcomings and shortcomings of the traditional bulldozer in the hydraulic system and working process, the automatic control reform scheme is put forward. Taking the microcomputer control unit (ECU) as the control core, the conventional directional valve in the hydraulic system of the original working device is transformed into the electro-hydraulic proportional directional valve, and sensors are added to the engine, track and hydraulic cylinder of the bulldozer. Form a control system with feedback. By comparing the advantages and disadvantages of the three kinds of commonly used control signals, the compound control strategy, which is mainly controlled by engine speed and supplemented by slip rate control, is finally determined. At the same time, the selection of (ECU), sensor in microcomputer control unit is discussed. 2. The mathematical model of engine, hydraulic system, soil and slip rate is established, and then the whole machine model is established. 3. The simulation block diagram of the whole machine model is established in MATLAB/Simulink. Two kinds of working sites are designed to test the performance of bulldozer automatic control system. The simulation results show that the automatic control scheme of the bulldozer has achieved the expected results and verified the stability and feasibility of the automatic control system of the working device. At the same time, it also provides some new ideas for the automation research of other construction machinery.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TU623.5;TP273
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