模糊PID控制的步履式底盘姿态自适应调整研究  

Research on Adaptive Attitude Adjustment of Walking Chassis Based on Fuzzy PID Control

作　　者：张喜清[1] 王博 连晋毅[1] 陈殿民 Zhang Xiqing;Wang Bo;Lian Jinyi

机构地区：[1]太原科技大学机械工程学院

出　　处：《工程机械》2023年第9期50-57,I0018,共9页Construction Machinery and Equipment

基　　金：山西省工程技术研究中心项目(201805D21006);山西省基础研究计划项目(202203021221160)。

摘　　要：为了提高驾驶员作业效率、实现全地形步履式底盘姿态自适应调整的功能,提出一种动力学数值模拟的方法,完成液压控制步履式底盘的动力学建模,在RecurDyn中建立底盘结构间的约束以及斜坡路面,进行坡道上行驶的动力学计算分析;对底盘进行静态以及动态稳定性分析,得出底盘质心位置调整方法;通过联合仿真的方法,建立模糊PID控制器对机械底盘的倾角进行自适应控制。分析结果表明:模糊PID控制策略可以控制机械底盘完成姿态自适应调整功能,增加了驾驶员乘坐舒适性、驾驶安全感以及整机行驶和作业时的稳定性。In order to improve the driver’s operating efficiency and realize the function of adaptive attitude adjustment of the allterrain walking chassis,a dynamics numerical simulation method is proposed to complete the dynamics modeling of the hydraulically controlled walking chassis,and the constraints among the chassis structures,as well as the slope road,are established in RecurDyn to carry out the dynamics calculation and analysis of travelling on the slope.The static and dynamic stability of the chassis is analyzed to derive the method for adjusting the center of mass position of the chassis.Through co-simulation,a fuzzy PID controller is established to adaptively control the inclination of the mechanical chassis.The analysis results show that the fuzzy PID control strategy can control the mechanical chassis to complete the function of adaptive attitude adjustment,which improves the driver’s ride comfort,the sense of driving safety and the overall stability during travelling and operation.

关 键 词：自适应调整 数值模拟 液压底盘 控制策略 联合仿真 作业稳定性 

分 类 号：TU621[建筑科学—建筑技术科学]