本文關(guān)鍵詞：全地面起重機(jī)多橋轉(zhuǎn)向系統(tǒng)模糊PID控制研究　出處：《燕山大學(xué)》2012年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 全地面起重機(jī) 多橋轉(zhuǎn)向系統(tǒng) 數(shù)學(xué)模型 模糊PID控制 仿真

【摘要】：全地面起重機(jī)結(jié)合了汽車(chē)起重機(jī)的快速轉(zhuǎn)移、越野輪胎起重機(jī)的越野和負(fù)重行駛的特點(diǎn)，具有更加優(yōu)越的起重性能；更強(qiáng)的越野能力；結(jié)構(gòu)緊湊，行駛穩(wěn)定性更好；整機(jī)重量分配更均衡；底盤(pán)懸掛方式為油氣懸架，，減震效果明顯；能根據(jù)路面的狀況自動(dòng)調(diào)整車(chē)架以提高行駛性能和通過(guò)能力；爬坡能力更強(qiáng)；全輪轉(zhuǎn)向，多橋驅(qū)動(dòng)，轉(zhuǎn)彎半徑��；擁有多種行駛模式，使用范圍更廣；支腿跨距大，作業(yè)穩(wěn)定性好；可以不受前方區(qū)域的限制，360度全方位作業(yè)等。 目前國(guó)內(nèi)一些主機(jī)廠研究、開(kāi)發(fā)的全地面起重機(jī)與國(guó)外產(chǎn)品比較還是存在一定的差距，主要表現(xiàn)在起重性能、產(chǎn)品可靠性和前沿技術(shù)的應(yīng)用等方面。因此全地面起重機(jī)底盤(pán)設(shè)計(jì)技術(shù)中的獨(dú)有技術(shù)：油氣懸架系統(tǒng)和多橋轉(zhuǎn)向系統(tǒng)的研發(fā)和設(shè)計(jì)有著十分重要的意義。 本課題主要針對(duì)全地面起重機(jī)多橋轉(zhuǎn)向系統(tǒng)的模糊PID控制進(jìn)行研究。首先，以全地面起重機(jī)為原型，根據(jù)阿克曼轉(zhuǎn)向原理建立多橋轉(zhuǎn)向系統(tǒng)的線(xiàn)性二自由度模型，得出車(chē)輛運(yùn)動(dòng)狀態(tài)方程，以及影響車(chē)輛運(yùn)動(dòng)特性的相關(guān)參數(shù)，分析全地面車(chē)輛多橋轉(zhuǎn)向系統(tǒng)在全輪轉(zhuǎn)向模式下的動(dòng)態(tài)性能；其次，建立單橋轉(zhuǎn)向執(zhí)行機(jī)構(gòu)——比例閥控液壓缸的數(shù)學(xué)模型，分析該閉環(huán)系統(tǒng)的穩(wěn)定性，用MATLAB/simulink建立模糊PID控制器后進(jìn)行控制系統(tǒng)仿真，與常規(guī)PID控制系統(tǒng)的響應(yīng)結(jié)果進(jìn)行對(duì)比。 最后，以全地面起重機(jī)QAY50為實(shí)驗(yàn)對(duì)象，分別對(duì)轉(zhuǎn)向系統(tǒng)在不同的系統(tǒng)壓力、不同的載荷以及不同的轉(zhuǎn)向輸入速度的動(dòng)態(tài)響應(yīng)性能進(jìn)行實(shí)驗(yàn)，分析系統(tǒng)壓力、載荷、轉(zhuǎn)向速度對(duì)動(dòng)態(tài)轉(zhuǎn)向特性的影響。對(duì)轉(zhuǎn)向系統(tǒng)的實(shí)驗(yàn)結(jié)果與仿真結(jié)果、理論結(jié)果進(jìn)行比較，得出轉(zhuǎn)向速度快慢對(duì)轉(zhuǎn)向系統(tǒng)的快速性和準(zhǔn)確性的影響。
[Abstract]:The all-ground crane combines the rapid transfer of the truck crane, the off-road and load driving characteristics of the off-road tire crane, and has more superior lifting performance. Stronger cross-country ability; Compact structure, better driving stability; The weight distribution of the whole machine is more balanced; Chassis suspension is oil and gas suspension, the effect of shock absorption is obvious; Can automatically adjust the frame according to the condition of the road to improve the driving performance and passing ability; Stronger climbing ability; Full-wheel steering, multi-bridge drive, small turning radius; Has a variety of driving modes, a wider range of use; Long span of leg, good stability of operation; Can not be restricted by the front area of 360 degrees of full-directional operation and so on. At present, there is still a certain gap between the developed all-ground crane and foreign products, mainly in the lifting performance. Therefore, the development and design of hydro-pneumatic suspension system and multi-bridge steering system are of great significance. This paper mainly focuses on the fuzzy PID control of multi-bridge steering system of all-ground crane. Firstly, taking the all-ground crane as the prototype. According to Ackermann steering principle, the linear two-degree-of-freedom model of multi-axle steering system is established, and the vehicle motion state equation and the related parameters affecting the vehicle motion characteristics are obtained. The dynamic performance of multi-bridge steering system of all-ground vehicle under full-wheel steering mode is analyzed. Secondly, the mathematical model of proportional valve controlled hydraulic cylinder with single axle steering actuator is established, and the stability of the closed loop system is analyzed. After the fuzzy PID controller is built by MATLAB/simulink, the control system is simulated and compared with the response result of the conventional PID control system. Finally, taking the all-ground crane QAY50 as the experimental object, the dynamic response performance of the steering system under different system pressure, different load and different steering input speed is tested. The effects of system pressure, load and steering speed on dynamic steering characteristics are analyzed. The experimental results and simulation results of the steering system are compared with the theoretical results. The influence of speed and speed of steering on the speed and accuracy of steering system is obtained.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類(lèi)號(hào)】：TH213.6

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 盧賢票;全地面起重機(jī)雙機(jī)構(gòu)動(dòng)作協(xié)同控制研究[D];大連理工大學(xué);2013年

本文編號(hào)：1401806