天堂国产午夜亚洲专区-少妇人妻综合久久蜜臀-国产成人户外露出视频在线-国产91传媒一区二区三区

當(dāng)前位置:主頁 > 科技論文 > 路橋論文 >

單軸抬升車輛搬運(yùn)器運(yùn)動控制規(guī)律研究及控制系統(tǒng)開發(fā)

發(fā)布時間:2019-06-20 04:48
【摘要】:在社會飛速發(fā)展的今天,汽車已經(jīng)越來越多的進(jìn)入千家萬戶成為常見的代步工具,這使得土地資源緊張與汽車保有量激增的矛盾也日趨明顯。傳統(tǒng)的停車設(shè)備由于空間有限已經(jīng)不能滿足日益增長的車輛對停車位的需求,高科技含量和高自動化水平的堆垛式立體車庫正越來越多的進(jìn)入市場。車輛搬運(yùn)器作為立體車庫中的重要組成部分,是實(shí)現(xiàn)待搬運(yùn)車輛位置移動的關(guān)鍵,F(xiàn)存堆垛式立體車庫中車輛搬運(yùn)器多采用整體抬升方案,即克服待搬運(yùn)車輛全部重量將其抬離地面。觀察發(fā)現(xiàn)目前仍有許多汽車在駐車制動且變速器置于空擋狀態(tài)下,前輪可以自由轉(zhuǎn)動,針對這一現(xiàn)狀提出了一種新型結(jié)構(gòu)形式的單軸抬升式車輛搬運(yùn)器。這種搬運(yùn)器采用只抬升待搬運(yùn)車輛后輪,利用可自由轉(zhuǎn)動的前輪作為支撐點(diǎn),以推拉的形式實(shí)現(xiàn)待搬運(yùn)車輛的位置移動。在實(shí)驗室同門完成機(jī)械結(jié)構(gòu)設(shè)計的基礎(chǔ)上,本文主要研究搬運(yùn)器各機(jī)構(gòu)的運(yùn)動控制規(guī)律及對其控制系統(tǒng)進(jìn)行開發(fā)。針對各機(jī)構(gòu)的結(jié)構(gòu)特點(diǎn),分別運(yùn)用Adams軟件對前輪轉(zhuǎn)向限位機(jī)構(gòu)和舉升桿伸出機(jī)構(gòu)建立仿真模型研究其動力學(xué)特性,并采取Adams與MATLAB/Simulink聯(lián)合仿真的方式對其運(yùn)動控制規(guī)律進(jìn)行研究;推導(dǎo)建立出后輪舉升機(jī)構(gòu)、防脫限定機(jī)構(gòu)和底盤驅(qū)動機(jī)構(gòu)的數(shù)學(xué)模型,并采用MATLAB/Simulink軟件對其進(jìn)行動力學(xué)仿真和運(yùn)動控制規(guī)律研究。在得出各機(jī)構(gòu)運(yùn)動規(guī)律特性的基礎(chǔ)上選擇合適的控制方式、策略及能夠滿足控制要求的硬件設(shè)備,并確定其安裝位置;分析對比最終選用PIC16F877A芯片作為控制器,完成控制器最小系統(tǒng)模塊、光電傳感器模塊、旋轉(zhuǎn)編碼器模塊和電機(jī)驅(qū)動的硬件電路設(shè)計和接口分配;最后繪制這五個機(jī)構(gòu)確定控制方式、繪制控制程序流程圖、編寫軟件程序,主要包括,對PWM模塊、旋轉(zhuǎn)編碼器在位移和速度采集程序的實(shí)現(xiàn),以及車輛后輪舉升運(yùn)動過程中采用PI控制策略的程序?qū)崿F(xiàn)。
[Abstract]:With the rapid development of society, more and more cars have become a common walking tool, which makes the contradiction between the shortage of land resources and the surge of car ownership is becoming more and more obvious. Because the traditional parking equipment can not meet the increasing demand for parking spaces because of the limited space, the high-tech content and high automation level of stacker three-dimensional garage are entering the market more and more. As an important part of the three-dimensional garage, the vehicle carrier is the key to realize the position movement of the vehicle to be carried. In the existing stacker three-dimensional garage, the whole lifting scheme is mostly adopted, that is, to overcome the total weight of the vehicle to be carried and lift it off the ground. It is found that there are still many cars in the parking brake and the transmission is in the condition of no gear, and the front wheel can rotate freely. In view of this situation, a new type of single axle lift vehicle carrier is proposed. This kind of carrier only lifts the rear wheel of the vehicle to be carried, and uses the freely rotating front wheel as the support point to realize the position movement of the vehicle to be carried in the form of push and pull. On the basis of completing the mechanical structure design at the same door in the laboratory, this paper mainly studies the motion control law of each mechanism of the carrier and develops its control system. According to the structural characteristics of each mechanism, the dynamic characteristics of the front wheel steering limit mechanism and the lift rod extension mechanism are studied by using Adams software, and the motion control law of the mechanism is studied by means of joint simulation of Adams and MATLAB/Simulink. The mathematical models of rear wheel lifting mechanism, anti-stripping mechanism and chassis driving mechanism are derived and established, and the dynamic simulation and motion control law of the mechanism are studied by using MATLAB/Simulink software. On the basis of obtaining the characteristics of the motion law of each mechanism, the appropriate control mode, strategy and hardware equipment which can meet the control requirements are selected, and the installation position is determined. Finally, the PIC16F877A chip is selected as the controller to complete the hardware circuit design and interface distribution of the controller minimum system module, photoelectric sensor module, rotary encoder module and motor drive. Finally, the control mode of the five mechanisms is drawn, the flow chart of the control program is drawn, and the software program is compiled, which mainly includes the realization of PWM module, the realization of displacement and speed acquisition program of rotary encoder, and the program realization of PI control strategy in the process of vehicle rear wheel lifting motion.
【學(xué)位授予單位】:重慶交通大學(xué)
【學(xué)位級別】:碩士
【學(xué)位授予年份】:2015
【分類號】:U491.71

【參考文獻(xiàn)】

相關(guān)期刊論文 前1條

1 丁衛(wèi)東;朱衛(wèi)民;曹玲芝;;基于增量式光電編碼器電機(jī)測速系統(tǒng)的設(shè)計[J];鄭州輕工業(yè)學(xué)院學(xué)報(自然科學(xué)版);2013年06期

相關(guān)碩士學(xué)位論文 前1條

1 邱亮;單軸抬升車輛搬運(yùn)器動力學(xué)分析及運(yùn)動規(guī)律研究[D];重慶交通大學(xué);2014年

,

本文編號:2502945

資料下載
論文發(fā)表

本文鏈接:http://sikaile.net/kejilunwen/daoluqiaoliang/2502945.html


Copyright(c)文論論文網(wǎng)All Rights Reserved | 網(wǎng)站地圖 |

版權(quán)申明:資料由用戶2989c***提供,本站僅收錄摘要或目錄,作者需要刪除請E-mail郵箱bigeng88@qq.com
国产主播精品福利午夜二区| 夫妻性生活黄色录像视频| 欧美日韩国产亚洲三级理论片| 神马午夜福利一区二区| 亚洲欧美视频欧美视频| 精品欧美一区二区三久久| 亚洲精品国产精品日韩| 伊人久久五月天综合网| 91亚洲国产成人久久| 初尝人妻少妇中文字幕在线| 国产精品一区二区传媒蜜臀| 欧美黑人在线精品极品| 五月婷婷缴情七月丁香| 中文字幕高清免费日韩视频| 人妻露脸一区二区三区| 日本高清一道一二三区四五区| 人妻熟女欲求不满一区二区| 五月婷婷六月丁香在线观看| 亚洲一区二区三区中文久久| 成人精品亚洲欧美日韩| 不卡视频在线一区二区三区| 五月综合激情婷婷丁香| 欧美激情床戏一区二区三| 一区二区日韩欧美精品| 一区中文字幕人妻少妇| 欧洲自拍偷拍一区二区| 99少妇偷拍视频在线| 中文字幕中文字幕一区二区| 成人午夜在线视频观看| 亚洲黄色在线观看免费高清| 日本欧美一区二区三区高清| 日本三区不卡高清更新二区| 男女午夜视频在线观看免费| 国产精品欧美激情在线| 欧美黑人巨大一区二区三区| 欧洲精品一区二区三区四区| 成人综合网视频在线观看| 日韩精品中文字幕亚洲| 亚洲精品欧美精品一区三区| 欧美一区二区三区喷汁尤物| 午夜福利激情性生活免费视频|