中国机械工程 ›› 2014, Vol. 25 ›› Issue (7): 972-978.

• 科学基金 • 上一篇    下一篇

自行式载重车悬架升降电液同步驱动控制研究

赵静一1,2;程斐1,2;郭锐1,2;戴建军3   

  1. 1.燕山大学河北省重型机械流体动力传输与控制重点实验室,先进锻压成型技术与科学教育部重点实验室,秦皇岛,066004
    2.流体动力与机电系统国家重点实验室,杭州,310000
    3.江苏海鹏特种车辆有限公司,靖江,214521
  • 出版日期:2014-04-10 发布日期:2014-04-11
  • 基金资助:
    国家自然科学基金资助项目(51175448);河北省自然科学基金资助项目(E2012203071);流体动力与机电系统国家重点实验室开放基金资助项目(GZKF-201103) 
    National Natural Science Foundation of China(No. 51175448);
    Hebei Provincial Natural Science Foundation of China(No. E2012203071)

Research on Electro-hydraulic Synchronization Driving Control for Self-Propelled Transporter Suspension Lifting

Zhao Jingyi1,2;Cheng Fei1,2;Guo Rui1,2;Dai Jianjun3   

  1. 1.Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Key Laboratory of Advanced Forging & Stamping Technology and Science,
    Ministry of Education of China,Yanshan University,Qinhuangdao,Hebei,066004
    2.The State Key Laboratory of Fluid Power Transmission and Control,Hangzhou,310000
    3.Jiangsu Haipeng Special Vehicles Co., Ltd.,Jingjiang,Jiangsu,214521
  • Online:2014-04-10 Published:2014-04-11
  • Supported by:
     
    National Natural Science Foundation of China(No. 51175448);
    Hebei Provincial Natural Science Foundation of China(No. E2012203071)

摘要:

通过对自行式载重车4点悬架同步驱动机械和液压系统工作机理的分析,建立了系统的多领域物理模型和数学模型;针对该同步升降系统存在的耦合性、非线性和模型参数不确定性特点,提出了一种基于多点输出耦合的模糊PID多缸同步驱动控制策略,以4点悬架柱塞缸实际输出位移耦合值为理想输出,由4个独立的位置同步模糊PID控制器分别实现阀控柱塞缸对理想输出动态和稳态的实时跟踪控制。额定载荷为1MN的自行式载重车悬架同步升降试验结果显示:运用该控制策略的车辆悬架同步升降过程中的4点悬架高度的动态误差为±3mm,稳态误差为±1mm,对比试验表明,基于多点输出耦合的模糊PID控制策略具有较高的同步驱动控制精度和较强的适应性与鲁棒性。

关键词: 自行式载重车, 悬架系统, 同步控制, 模糊PID控制

Abstract:

A multi-domain physical model and a mathematical model were established based on analysis of the mechanical and hydraulic working mechanism of four suspensions synchronous driving system with self-propelled transporter. According to the coupling, nonlinear, model parameter uncertainty characteristics in the leveling system, a self-tuning PID-type fuzzy control based on multi-point output coupling synchronous driving algorithm was proposed, with the four suspensions cylinder actual displacement coupling value as a ideal output, by four independent fuzzy PID controller valve control cylinder was realized respectively to ideal dynamic and static real-time tracking control; The results of the test of synchronous lifting for rated load 1MN self-propelled transporter show that four cylinder dynamic synchronization errors are within range of ±3mm, steady synchronization errors range of ±1mm, with the application of the new control strategy. The new control system has the higher control precision of synchronous driving and better adaptability and robustness from the contrast test.

Key words: self-propelled transporter, suspension system, synchronization driving control, fuzzy PID control

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