自行式载重车悬架升降电液同步驱动控制研究  

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

作　　者：赵静一[1,2] 程斐[1,2] 郭锐[1,2] 戴建军 

机构地区：[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　　处：《中国机械工程》2014年第7期972-978,共7页China Mechanical Engineering

基　　金：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)

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1 MN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±3 mm,稳态误差为±1 mm,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。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 uncer- tainty characteristics in the leveling system, a self-tuning PlD-type fuzzy control based on multi-point output coupling synchronous driving algorithm was proposed, with the four suspensions cylinder actu- al displacement coupling value as a ideal output, by four independent fuzzy PID controller valve con- trol cylinder was realized respectively to ideal dynamic and static real-time tracking control; The re- sults of the test of synchronous lifting for rated load 1 MN self-propelled transporter show that four cylinder dynamic synchronization errors are within range of -＋-3 mm, steady synchronization errors range of 4-1 mm, 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 con- trast test.

关 键 词：自行式载重车 悬架系统 同步控制 模糊PID控制 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]