本文選題：裝載機　切入點：線控轉向　出處：《長春工業(yè)大學》2011年碩士論文　論文類型：學位論文

【摘要】：線控轉向是指通過微電子技術連接并控制轉向系統(tǒng)的元件來代替?zhèn)鹘y(tǒng)的機械或液壓連接,用傳感器記錄駕駛者的轉向數(shù)據和車輛轉角、車速、轉向阻力等數(shù)據并傳送給車載控制器,車載控制器按照給定的控制算法計算輸出控制信號,控制車輛的轉向角度實現(xiàn)轉向控制。 隨著計算機技術在工程機械中的應用日益廣泛,線控轉向技術也已由汽車產業(yè)向工程車輛轉移。同時,隨著大規(guī)模集成電路技術的發(fā)展,采用微處理器作為硬件控制核心的線控轉向裝置將成為今后車輛轉向技術的發(fā)展趨勢,具有巨大的市場潛力。 轉向系統(tǒng)是輪式裝載機中最為重要的系統(tǒng)之一,它直接影響整機的安全性、作業(yè)效率、能源消耗和司機的勞動強度。為了解決傳統(tǒng)的轉向系統(tǒng)存在轉向靈敏度不可調節(jié)、沒有路感等問題,本文采用線控轉向技術設計了高效可靠的裝載機線控轉向控制子系統(tǒng),可以提高裝載機作業(yè)效率,并給駕駛員提供合適的路感。 本文所做的主要工作如下： 首先,對轉向控制算法進行了研究,為了使車輛能夠準確快捷地執(zhí)行駕駛員的指令,本文采用模糊自整定PID控制策略,來增強車輛的可控性,改善車輛的操縱穩(wěn)定性能。并在MATLAB/Simulink環(huán)境支持下,對無校正、常規(guī)PID與模糊自整定PID控制算法分別進行仿真,結果顯示采用模糊自整定PID控制算法響應時間較快,可以很好的滿足轉向系統(tǒng)的需求。 其次,為了滿足裝載機線控轉向系統(tǒng)的工作要求,設計了以TMS320LF2407DSP芯片為核心,包含復位、輸入、輸出驅動、顯示等電路以及轉向控制模塊在單板機上的實現(xiàn)方案,解決了線控轉向系統(tǒng)對多任務、高實時性的需求問題。 最后,本文又進行了控制系統(tǒng)軟件的設計。本文所設計的控制系統(tǒng)采用的是匯編語言和C語言進行開發(fā),這兩種語言各具特色。匯編語言速度快、實時性高,可以直接控制DSP2407內部的寄存器,并且可精確控制DSP的時間特性；而C語言功能豐富,使用靈活,可移植性好,編程效率高。兩種語言結合使用,優(yōu)勢互補,可以縮短程序的開發(fā)周期。軟件開發(fā)采用模塊化結構設計,通用性好,便于改進和擴充,從而研制出規(guī)模更大,性能更完備的系統(tǒng)。 本文所設計的控制系統(tǒng)具有體積小,可靠性高,專用性強,性價比高等優(yōu)點。。實驗及仿真結果表明,該系統(tǒng)響應時間較快,準確性高,能夠滿足實際轉向系統(tǒng)的需求。
[Abstract]:Wire steering is the use of microelectronics to connect and control the components of the steering system in place of traditional mechanical or hydraulic connections, using sensors to record the steering data of the driver and the vehicle rotation angle and speed. The steering resistance and other data are transmitted to the vehicle controller. The vehicle controller calculates the output control signal according to the given control algorithm and controls the steering angle of the vehicle to realize the steering control. With the increasing application of computer technology in construction machinery, wire-controlled steering technology has been transferred from automobile industry to engineering vehicle. At the same time, with the development of large-scale integrated circuit technology, The wire-controlled steering device with microprocessor as the core of hardware control will become the development trend of vehicle steering technology in the future and has great market potential. Steering system is one of the most important systems in wheel loader. It directly affects the safety, working efficiency, energy consumption and labor intensity of the driver. In order to solve the problem that the steering sensitivity of the traditional steering system can not be adjusted, Without the problem of road sense, this paper designs an efficient and reliable steering control subsystem of loader by wire steering technology, which can improve the working efficiency of loader and provide a suitable sense of road for the driver. The main work of this paper is as follows:. Firstly, the steering control algorithm is studied. In order to make the vehicle execute the driver's instruction accurately and quickly, the fuzzy self-tuning PID control strategy is adopted to enhance the controllability of the vehicle. Under the support of MATLAB/Simulink environment, the conventional PID and fuzzy self-tuning PID control algorithms are simulated, respectively. The results show that the response time of the fuzzy self-tuning PID control algorithm is faster. It can meet the requirements of the steering system well. Secondly, in order to meet the working requirements of the linear steering system of the loader, the realization scheme of the TMS320LF2407DSP chip is designed, which includes reset, input, output drive, display circuit and steering control module on the single board computer. The problem of multi-task and high-real-time requirement of wire steering system is solved. Finally, this paper designs the control system software. The control system designed in this paper is developed by assembly language and C language. The two languages have their own characteristics. The assembly language is fast and real-time. It can directly control the register inside DSP2407 and accurately control the time characteristic of DSP, while C language has rich function, flexible use, good portability and high programming efficiency. It can shorten the development cycle of the program. The software development adopts modular structure design, which has good generality, and is easy to improve and expand, so that the system with larger scale and more complete performance can be developed. The control system designed in this paper has the advantages of small volume, high reliability, high specificity, high performance-to-price ratio and so on. The experimental and simulation results show that the system can meet the needs of the actual steering system because of its fast response time and high accuracy.
【學位授予單位】：長春工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH243;TP273

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相關碩士學位論文 前3條

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2 王紅梅;基于DSP的四輪轉向控制系統(tǒng)研究[D];長安大學;2004年

3 寧悅;裝載機流量放大轉向系統(tǒng)特性研究[D];吉林大學;2006年

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本文編號：1588920