本文選題：滑移裝載機 + 振動控制技術��； 參考：《中南大學》2011年碩士論文

【摘要】：滑移裝載機作為一種應用于基礎設施建設并需頻繁進行轉場作業(yè)的工程車輛,在運輸作業(yè)過程中工作裝置的行駛平順性成為保持鏟斗內物料完整性和提高工作效率的關鍵。本文以ZHL3210型滑移裝載機為研究對象,針對工作裝置行駛平順性的改善進行理論、仿真與實驗研究。主要完成的工作如下： 1、論述了振動控制技術和國內外工程車輛減振技術的研究現狀,根據滑移裝載機的作業(yè)特點,分析了運輸工況下工作裝置振動產生的原因,在明確了主要激振因素和振動傳遞過程的基礎上,提出了基于改變阻尼的工作裝置半主動油氣減振方案,并建立了工作裝置油氣減振系統。 2、基于油氣減振系統的分析,建立了系統的數學模型,在此基礎上推導出了減振系統的非線性剛度特性和阻尼特性,得出了影響系統減振性能的主要結構參數為蓄能器的初始充氣壓力、初始充氣容積、比例節(jié)流閥的閥口開度和單向節(jié)流閥的通流截面積,并通過對輸出特性進行編程運算,分析了系統減振原理。 3、基于減振系統原理和輸出剛度、阻尼特性,構建了加入減振系統前、后整機振動系統的物理模型,并應用拉格朗日方程法建立了振動系統的動力學數學模型；根據作業(yè)環(huán)境的特點,建立了常規(guī)工況下的D級隨機工程路面模型和特殊工況下的沖擊型橫向鐵路軌道路面模型,以此作為振動系統的激勵輸入。 4、根據振動系統動力學模型,應用Matlab-Simulink仿真軟件分析了減振系統各主要參數對工作裝置行駛平順性的影響規(guī)律；以D級工程路面進行系統工況仿真分析,在得出的油氣減振系統動力學參數基礎上,確定了系統結構參數及元件選型；基于確定參數的減振系統,在D級路況和軌道路況下對工作裝置行駛平順性進行仿真,表明了在D級路況下減振系統能很好的滿足系統平順性要求,但在軌道路況下,其隔振效果較差,提出了針對某一路況設計的固定參數減振系統存在的缺陷。 5、針對固定參數減振系統的不足和實際運輸工況下路面的多變和復雜性,采用了基于模糊控制的半主動減振控制方法,結合系統動力學模型建立了半主動減振模糊控制系統,并應用MATLAB-Fuzzy工具箱設計了模糊控制器；根據隨機路況和軌道路況建立了分段路面模型,通過仿真評價了不加減振系統、加入固定參數的減振系統和采用模糊控制的半主動減振系統對工作裝置行駛平順性的影響,驗證了半主動減振模糊控制方案的有效性。 6、以ZHL3210型滑移裝載機為平臺進行實車道路試驗,驗證了油氣減振系統對工作裝置振動控制的有效性、減振系統和整車振動系統數學模型的正確性以及基于改變系統阻尼的半主動減振控制方案的合理性。
[Abstract]:As a kind of engineering vehicle which is used in the construction of infrastructure and needs to be rotated frequently, the smoothness of the working device becomes the key to maintain the integrity of the material in the bucket and to improve the working efficiency. This paper takes ZHL3210 type slip loader as the research object, carries on the theory, the simulation and the experimental research to the improvement of the ride comfort of the working device. The main tasks accomplished are as follows: 1. The research status of vibration control technology and damping technology of engineering vehicles at home and abroad is discussed. According to the working characteristics of sliding loader, the causes of vibration of working device under transportation condition are analyzed. On the basis of defining the main excitation factors and vibration transfer process, a semi-active oil-gas damping scheme based on varying damping is proposed, and the oil-gas damping system of the working device is established. 2. Based on the analysis of the oil and gas damping system, the mathematical model of the system is established, and the nonlinear stiffness and damping characteristics of the system are derived. The main structural parameters that affect the performance of the system are the initial inflatable pressure of accumulator, the initial inflatable volume, the opening of the proportional throttle valve and the through-cut area of the one-way throttle valve, and the programming operation of the output characteristics is carried out. The vibration absorption principle of the system is analyzed. 3. Based on the principle of the vibration absorption system and the characteristics of the output stiffness and damping, the physical model of the vibration system before and after adding the damping system is constructed, and the dynamic mathematical model of the vibration system is established by using the Lagrange equation method. According to the characteristics of the working environment, the road surface model of D class random engineering under normal working conditions and the impact type transverse railway track pavement model under special working conditions are established, which can be used as the excitation input of vibration system. 4. According to the dynamic model of vibration system, the influence of main parameters of the damping system on the ride comfort of the working device is analyzed by using the Matlab-Simulink simulation software, and the simulation analysis of the system working condition is carried out on the road surface of the D class project. On the basis of the obtained dynamic parameters of oil and gas damping system, the structural parameters and components selection of the system are determined, and the vibration absorption system based on the determined parameters is simulated under the condition of D class road condition and track condition, and the ride comfort of the working device is simulated under the condition of D class road condition and track road condition. The results show that the vibration absorption system can meet the requirements of system ride comfort well under the condition of D grade road, but the vibration isolation effect is poor under the condition of track road, and the defects of the fixed parameter vibration absorption system designed for a certain road condition are put forward. 5. In view of the deficiency of the fixed parameter damping system and the complexity of the pavement under the actual transportation condition, the semi-active vibration control method based on fuzzy control is adopted, and the semi-active vibration reduction fuzzy control system is established based on the dynamic model of the system. The fuzzy controller is designed by using the MATLAB-Fuzzy toolbox, the segmented road surface model is established according to the random road condition and the track condition, and the non-vibration damping system is evaluated by simulation. The effect of the fixed parameter damping system and the semi-active vibration absorption system with fuzzy control on the ride comfort of the working device is verified, and the effectiveness of the semi-active vibration reduction fuzzy control scheme is verified. 6. Taking ZHL3210 type slip loader as the platform, the actual road test is carried out, which verifies the effectiveness of the oil and gas damping system to the vibration control of the working device. The correctness of the mathematical models of vibration absorption system and vehicle vibration system and the rationality of the semi-active vibration control scheme based on changing the damping of the system.
【學位授予單位】：中南大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH243

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本文編號：1983240