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

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