本文關(guān)鍵詞： 平衡重式叉車 橫向穩(wěn)定性 虛擬樣機(jī) 側(cè)傾控制 聯(lián)合仿真　出處：《合肥工業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：平衡重式叉車作為最常用的物料搬運(yùn)機(jī)械,廣泛應(yīng)用于各大領(lǐng)域,由于車架與轉(zhuǎn)向橋特殊鉸接結(jié)構(gòu)的特點(diǎn),加之起升機(jī)構(gòu)所載貨物也會(huì)偏移,從而導(dǎo)致整車質(zhì)心位置易于變化,因而其橫向穩(wěn)定性較差。當(dāng)叉車在急轉(zhuǎn)彎或駕駛員操作不當(dāng)時(shí),一旦整車質(zhì)心位置超出穩(wěn)定區(qū)域,就會(huì)導(dǎo)致橫向失穩(wěn)甚至翻車。國內(nèi)對(duì)叉車橫向穩(wěn)定性控制的研究和分析才開始起步,大部分叉車還沒有裝備橫向穩(wěn)定性控制系統(tǒng)產(chǎn)品,安全性極低。本文針對(duì)某型3噸平衡重式叉車,在橫向穩(wěn)定性理論分析的基礎(chǔ)上,確定了影響叉車橫向穩(wěn)定性的關(guān)鍵因素,基于ADAMS建立了平衡重式叉車整車虛擬樣機(jī)模型,在多種工況下運(yùn)行仿真,并提出了側(cè)傾分級(jí)的控制策略,在Simulink中設(shè)計(jì)了側(cè)傾分級(jí)的模糊控制器和變論域模糊控制器,并基于ADAMS和Simulink進(jìn)行聯(lián)合仿真,最后設(shè)計(jì)了平衡重式叉車橫向穩(wěn)定性控制系統(tǒng)并完成了實(shí)車試驗(yàn),全文工作內(nèi)容歸納如下:(1)依據(jù)平衡重式叉車的結(jié)構(gòu)特點(diǎn),研究其橫向穩(wěn)定性的主要影響因素及側(cè)傾機(jī)理,基于力學(xué)分析方法建立了平衡重式叉車七自由度模型及運(yùn)動(dòng)微分方程,分析其橫向失穩(wěn)的臨界條件。(2)基于ADAMS建立平衡重式叉車整車虛擬樣機(jī)模型,并進(jìn)行轉(zhuǎn)向機(jī)構(gòu)優(yōu)化,設(shè)計(jì)一種新型的三連桿液壓支承調(diào)整機(jī)構(gòu)作為防側(cè)傾的執(zhí)行機(jī)構(gòu),在多種工況下進(jìn)行平衡重式叉車橫向穩(wěn)定性的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)仿真,選取表征側(cè)傾程度的變量,確定其大小范圍及側(cè)傾時(shí)的臨界值。(3)基于仿真分析結(jié)果,提出側(cè)傾分級(jí)的橫向穩(wěn)定性控制策略,并基于模糊控制算法在MATLAB/Simulink中設(shè)計(jì)了一級(jí)側(cè)傾模糊控制器和二級(jí)側(cè)傾模糊控制器;借助變論域自適應(yīng)模糊控制理論知識(shí),設(shè)計(jì)了側(cè)傾分級(jí)變論域模糊控制器。(4)基于ADAMS和MATLAB/Simulink進(jìn)行聯(lián)合仿真分析,采用平衡重式叉車動(dòng)態(tài)穩(wěn)定性驗(yàn)證的歐洲標(biāo)準(zhǔn)工況,驗(yàn)證了側(cè)傾分級(jí)模糊控制能夠有效改善叉車的側(cè)傾情況。(5)完成了平衡重式叉車橫向穩(wěn)定性控制系統(tǒng)電路原理圖、PCB制版及樣機(jī)設(shè)計(jì),并進(jìn)行實(shí)車試驗(yàn),由于試驗(yàn)采集數(shù)據(jù)與仿真結(jié)果契合度較高,驗(yàn)證了整車虛擬樣機(jī)模型的準(zhǔn)確性及側(cè)傾分級(jí)控制策略、橫向穩(wěn)定性控制系統(tǒng)的有效性,實(shí)現(xiàn)了本課題的設(shè)計(jì)目標(biāo)。
[Abstract]:As the most commonly used material handling machinery, the balanced heavy forklift is widely used in various fields. Due to the characteristics of the special hinged structure of the frame and the steering bridge and the deviation of the cargo carried by the lifting mechanism, the center of mass position of the whole vehicle is easy to change. When the forklift is on a sharp turn or the driver is not operating properly, once the center of mass of the whole vehicle exceeds the stable area, This will lead to lateral instability or even overturning. Domestic research and analysis on lateral stability control of forklift trucks have only started. Most forklifts have not been equipped with horizontal stability control system products. The safety is extremely low. Based on the theoretical analysis of lateral stability, the key factors affecting the lateral stability of a 3-ton balanced forklift truck are determined, and the virtual prototype model of the balanced forklift truck is established based on ADAMS. The simulation is carried out under various operating conditions, and the control strategy of roll classification is put forward. The fuzzy controller and variable universe fuzzy controller are designed in Simulink, and the simulation is carried out based on ADAMS and Simulink. Finally, the lateral stability control system of the balanced forklift truck is designed and the actual vehicle test is completed. The whole work is summarized as follows: (1) according to the structural characteristics of the balanced forklift truck, the main influencing factors and the roll mechanism of its lateral stability are studied. Based on the mechanical analysis method, the seven degree of freedom model and the differential equation of motion of the balanced heavy forklift are established, and the critical condition of its lateral instability is analyzed. (2) based on ADAMS, the virtual prototype model of the balanced forklift truck is established, and the steering mechanism is optimized. A new three-link hydraulic support adjusting mechanism is designed as the anti-roll actuator. The kinematics and dynamics simulation of the lateral stability of the balanced forklift truck is carried out under a variety of working conditions, and the variables that characterize the degree of roll are selected. Based on the results of simulation analysis, a lateral stability control strategy of roll classification is proposed, and a first-order roll fuzzy controller and a two-stage roll fuzzy controller are designed in MATLAB/Simulink based on fuzzy control algorithm. With the help of the theory knowledge of variable universe adaptive fuzzy control, this paper designs a roll gradient variable universe fuzzy controller. It is based on ADAMS and MATLAB/Simulink to carry on the joint simulation analysis, and adopts the European standard working condition of dynamic stability verification of balanced heavy forklift truck. It is verified that the roll classification fuzzy control can effectively improve the roll condition of forklift. (5) the circuit schematic diagram of the control system of horizontal stability of the balanced forklift and the design of the PCB and the prototype are completed, and the actual vehicle test is carried out. The accuracy of the virtual prototype model and the roll classification control strategy are verified because of the high agreement between the experimental data and the simulation results. The lateral stability control system is effective and the design goal of this subject is achieved.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH242

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