本文選題：裝載機　切入點：電液轉向　出處：《杭州電子科技大學》2012年碩士論文　論文類型：學位論文

【摘要】：裝載機轉向系統(tǒng)是裝載機重要的構成系統(tǒng)之一,轉向系統(tǒng)的性能的好壞直接影響裝載機作業(yè)效率、安全性和駕駛員勞動強度。 本文依托國家自然基金“面向復雜產(chǎn)品全生命周期的多領域統(tǒng)一建模及仿真優(yōu)化方法”和浙江省科技廳重大專項“多功能物流裝備多領域優(yōu)化設計技術研究及平臺開發(fā)”,針對HT25J型裝載機原有的全液壓轉向系統(tǒng)中存在的轉向不輕便、靈敏度不可調(diào)、作業(yè)時效率低等問題,在借鑒參考國內(nèi)外相關研究的基礎上,設計了一種由比例減壓閥來控制流量放大閥這一電液線控轉向系統(tǒng),并對該系統(tǒng)進行了數(shù)學建模、控制系統(tǒng)設計仿真、轉向液壓系統(tǒng)AMESim仿真分析、轉向機構鉸接點優(yōu)化及轉向系統(tǒng)MATLAB GUI界面的開發(fā)實現(xiàn),具體包括以下幾部分內(nèi)容： 1.將電液比例控制技術應用于裝載機轉向系統(tǒng)中,設計了電液比例閥來控制流量放大閥這一線控轉向系統(tǒng)的方案；而后通過分析放大閥的靜、動態(tài)特性,建立其數(shù)學模型。 2.采用自適應模糊PID控制方法建立模糊自適應PID控制器,并在Matlab/Simulink中進行仿真,得到系統(tǒng)在無控制器控制、PID控制和模糊自適應PID控制三種情況下系統(tǒng)對階躍信號的響應,通過對比得到自適應模糊PID控制具有較高的控制精度,較小的超調(diào)量和較快的響應速度,同時穩(wěn)態(tài)性能出色,魯棒性強。 3.通過對轉向系統(tǒng)原理構造分析,在AEMSim中選擇合適的子模型,建立電液轉向系統(tǒng)中各部件的物理模型,并將各個元件連接起來,搭建了系統(tǒng)的總體仿真模型。而后在AMESim中對各個元件進行參數(shù)化設置,并分別對主閥、分流閥等進行仿真分析,得到在不同條件下各元件的特性對整個系統(tǒng)性能的影響；并對系統(tǒng)進行總體仿真,得到轉向油缸的輸出情況。 4.根據(jù)轉向鉸接機構的工作特性,建立轉向機構的優(yōu)化設計數(shù)學模型；應用蟻群算法對鉸接點進行優(yōu)化,得到行程差與轉角、力臂差與轉角在優(yōu)化前后對比,以及在有無油缸通用約束情況下曲線的對比結果。通過對比優(yōu)化前后結果,可以看出優(yōu)化取得了明顯的改進,提高了轉向性能。 5.通過使用MATLAB GUIDE交互式組件布局功能設計出轉向系統(tǒng)的參數(shù)計算界面、仿真界面和控制系統(tǒng)仿真界面,而后對界面中的各個控件進行回調(diào)程序的編譯,從而實現(xiàn)GUI界面的功能。
[Abstract]:The steering system of loader is one of the important components of loader. The performance of steering system directly affects the efficiency, safety and labor intensity of loader. This paper relies on the National Natural Fund "Multi-domain Unified Modeling and Simulation Optimization method for the whole Life cycle of complex products" and the "Multi-functional Logistics equipment Multi-domain Optimization Design Technology Research" in Zhejiang Science and Technology Department. Platform development ", aimed at the HT25J loader in the original full hydraulic steering system, the steering is not portable, The sensitivity is not adjustable and the working efficiency is low. On the basis of referring to the relevant research at home and abroad, a proportional pressure reducing valve is designed to control the flow amplifying valve, which is an electro-hydraulic steering system, and the mathematical model of the system is established. Control system design simulation, steering hydraulic system AMESim simulation analysis, steering mechanism hinge point optimization and the development and realization of steering system MATLAB GUI interface, including the following parts:. 1. The electro-hydraulic proportional control technology is applied to the steering system of loader, and the scheme of electro-hydraulic proportional valve to control the flow amplification valve is designed, and the mathematical model is established by analyzing the static and dynamic characteristics of the amplifying valve. 2. The fuzzy adaptive PID controller is established by using adaptive fuzzy PID control method, and simulated in Matlab/Simulink. The response of the system to the step signal is obtained under the condition of controller free pid control and fuzzy adaptive PID control. By comparison, it is found that the adaptive fuzzy PID control has higher control accuracy, smaller overshoot and faster response speed, at the same time, the steady-state performance is excellent, and the robustness is strong. 3. By analyzing the principle of steering system, selecting the appropriate sub-model in AEMSim, establishing the physical model of each component in the electro-hydraulic steering system, and connecting each component together. The overall simulation model of the system is built, and then the parameterized setting of each component is carried out in AMESim, and the main valve and the shunt valve are simulated and analyzed respectively, and the effects of the characteristics of each component on the performance of the system are obtained under different conditions. The overall simulation of the system is carried out to get the output of the steering cylinder. 4. According to the working characteristics of the steering hinge mechanism, the mathematical model of the optimum design of the steering mechanism is established, the hinge point is optimized by the ant colony algorithm, the stroke difference and the rotation angle are obtained, and the force arm difference and the rotation angle are compared before and after the optimization. By comparing the results before and after the optimization, it can be seen that the optimization has achieved obvious improvement and improved the steering performance. 5. The parameter calculation interface, simulation interface and control system simulation interface of steering system are designed by using MATLAB GUIDE interactive component layout function. Then the callback program is compiled to realize the function of GUI interface.
【學位授予單位】：杭州電子科技大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH243

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