【摘要】：作為礦石的主要運(yùn)輸工具,礦用車主要作業(yè)于道路條件極其惡劣的礦山,因此經(jīng)常會(huì)遇到冰雪、泥漿等附著系數(shù)非常低的路面,而由此造成的車輪打滑會(huì)使得礦用車的驅(qū)動(dòng)性能大打折扣。為提高礦用車的驅(qū)動(dòng)能力,本文在原6×4礦用車車型的基礎(chǔ)上,設(shè)計(jì)添加前橋靜液輔助驅(qū)動(dòng)系統(tǒng)。綜合考慮礦用車的實(shí)際運(yùn)行狀況,采用具有自由輪功能的液壓輪轂馬達(dá)作為驅(qū)動(dòng)車輪的終端元件,其轉(zhuǎn)速由變量泵排量調(diào)節(jié)進(jìn)行控制。由此確定前橋靜液輔助驅(qū)動(dòng)系統(tǒng)的結(jié)構(gòu)布置方案,并對(duì)液壓系統(tǒng)主要元件進(jìn)行參數(shù)匹配。然后根據(jù)礦用車的工作要求,利用AMESim軟件設(shè)計(jì)具有自由輪、輔助驅(qū)動(dòng)、輔助制動(dòng)、舉升四種工作模式的液壓回路,并對(duì)此回路進(jìn)行功能性仿真,仿真結(jié)果滿足礦用車的功能性需求。在建立輔助驅(qū)動(dòng)輪輪轂馬達(dá)轉(zhuǎn)速控制模型的基礎(chǔ)上,采用PID串聯(lián)校正對(duì)馬達(dá)輸出轉(zhuǎn)速進(jìn)行跟隨主驅(qū)動(dòng)輪轉(zhuǎn)速的控制,以保證加入靜液輔助驅(qū)動(dòng)系統(tǒng)以后礦用車能夠滿足主、輔驅(qū)動(dòng)輪協(xié)調(diào)運(yùn)轉(zhuǎn)的基本要求。為提高控制系統(tǒng)的穩(wěn)定性與自適應(yīng)能力,在PID反饋控制的基礎(chǔ)上加入神經(jīng)網(wǎng)絡(luò)監(jiān)督控制,形成反饋+前饋的控制方式。采用MATLAB腳本文件對(duì)此控制方式進(jìn)行仿真,結(jié)果表明輔助驅(qū)動(dòng)輪轉(zhuǎn)速控制模型在參考電壓的輸入下可以對(duì)液壓馬達(dá)轉(zhuǎn)速實(shí)現(xiàn)精確控制。為確保礦用車在遇到不同路面時(shí)靜液輔助驅(qū)動(dòng)系統(tǒng)能夠合理、自動(dòng)、及時(shí)地開(kāi)啟與關(guān)閉,本文提出通過(guò)后輪平均滑轉(zhuǎn)率與當(dāng)前檔位決定輔助驅(qū)動(dòng)系統(tǒng)開(kāi)閉的控制策略。為精確計(jì)算后輪滑轉(zhuǎn)率,本文采用無(wú)跡卡爾曼濾波對(duì)整車車速進(jìn)行估計(jì),同時(shí)實(shí)現(xiàn)濾波功能。最后,在MATLAB/Simulink軟件中建立整車的動(dòng)力學(xué)模型、Pacejka89輪胎模型、車速估計(jì)模型、輔助驅(qū)動(dòng)系統(tǒng)切換模型以及輪速跟蹤模型,并對(duì)這些模型進(jìn)行相關(guān)仿真,結(jié)果表明無(wú)跡卡爾曼濾波可以對(duì)車速進(jìn)行精確估計(jì)并且同時(shí)實(shí)現(xiàn)濾波功能,輔助驅(qū)動(dòng)系統(tǒng)可以在設(shè)定的情況下及時(shí)開(kāi)啟與關(guān)閉,靜液輔助驅(qū)動(dòng)系統(tǒng)開(kāi)啟后可以提高整車的驅(qū)動(dòng)性能。
[Abstract]:As the main means of transporting ore, mining vehicles operate mainly in mines with extremely poor road conditions, so they often encounter roads with very low adhesion factors, such as ice, snow, mud, and so on. And the resulting wheel slippage will make the driving performance of the mine car greatly discounted. In order to improve the driving ability of the mine car, this paper designs and adds the front axle hydrostatic assistant drive system on the basis of the original 6 脳 4 mine vehicle model. Considering the actual running condition of the mine car, the hydraulic wheel hub motor with the function of free wheel is used as the terminal component of the driving wheel. The speed of the wheel is controlled by variable pump displacement. The structure layout scheme of the hydrostatic assistant drive system of the front axle is determined and the parameters of the main components of the hydraulic system are matched. Then according to the working requirements of the mine car, the hydraulic circuit with four working modes of free wheel, auxiliary drive, auxiliary braking and lifting is designed by using AMESim software, and the functional simulation of this circuit is carried out. The simulation results meet the functional requirements of mining vehicles. On the basis of establishing the speed control model of the auxiliary drive wheel hub motor, PID series correction is used to control the output speed of the motor to follow the speed of the main drive wheel, so as to ensure that the mine car can satisfy the main speed after adding the hydrostatic assistant drive system. Basic requirements for coordinated operation of auxiliary drive wheels. In order to improve the stability and adaptive ability of the control system, neural network supervisory control is added to the PID feedback control to form a feedback feedforward control mode. The MATLAB script file is used to simulate the control method. The results show that the auxiliary drive wheel speed control model can accurately control the speed of hydraulic motor under the input of reference voltage. In order to ensure that the hydrostatic assistant drive system can be opened and closed reasonably, automatically and in time when the mine car encounters different road surface, this paper puts forward a control strategy that determines the opening and closing of the auxiliary drive system by means of the average slip rate of the rear wheel and the current gear position to determine the opening and closing of the auxiliary drive system. In order to calculate the slip rate accurately, unscented Kalman filter is used to estimate the vehicle speed, and the filtering function is realized at the same time. Finally, the vehicle dynamics model, Pacejka89 tire model, vehicle speed estimation model, auxiliary drive system switching model and wheel speed tracking model are established in MATLAB/Simulink software, and these models are simulated. The results show that the unscented Kalman filter can accurately estimate the vehicle speed and realize the filtering function at the same time. The auxiliary drive system can be turned on and off in time when the system is set. After the hydrostatic auxiliary drive system is turned on, the driving performance of the vehicle can be improved.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U469.6

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