基于主动悬挂的移动式作业平台设计与研究  

Design and Research of Mobile Operating Platform Based on Active Suspension

作　　者：严双桥 董奇峰 程茂林[1,3] 杨秀礼 孟林园[5] YAN Shuangqiao;DONG Qifeng;CHENG Maolin;YANG Xiuli;MENG Linyuan(CCCC Second Harbor Engineering Company Ltd.,Wuhan Hubei 430040,China;Key Laboratory of Large-span Bridge Construction Technology,Wuhan Hubei 430040,China;Research and Development Center of Transport Industry of Intelligent Manufacturing Technologies of Transport Infrastructure,Wuhan Hubei 430040,China;CCCC Highway Bridge National Engineering Research Centre Co.,Ltd.,Wuhan Hubei 430040,China;School of Mechanical Engineering,Yanshan University,Qinhuangdao Hebei 066004,China)

机构地区：[1]中交第二航务工程局有限公司,湖北武汉430040 [2]长大桥梁建设施工技术交通行业重点实验室,湖北武汉430040 [3]交通运输行业交通基础设施智能制造技术研发中心,湖北武汉430040 [4]中交公路长大桥建设国家工程研究中心有限公司,湖北武汉430040 [5]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《机床与液压》2023年第18期139-145,共7页Machine Tool & Hydraulics

基　　金：中交第二航务工程局有限公司科技研发资助项目(EHYF-2017-A-07-012)。

摘　　要：针对当前工程环境复杂化、地形条件多样化对移动施工平台性能提出的要求,设计一款基于主动悬挂的移动式作业平台。对作业平台进行结构设计,对其液压作动支腿进行有限元结构静力学分析,验证作动支腿机械结构的可靠性,对作业平台整体进行有限元结构动力学分析,得出能够避免平台发生共振的激振源频率段;根据作业平台特点,采用“中心点不动”调平算法,通过数学模型将平台的倾角控制等效转化为液压作动支腿位移的控制;设计作业平台作动支腿的电液比例控制系统,通过仿真验证PID控制算法的有效性;最后,通过试验对作业平台整体性能进行验证。结果表明:基于主动悬挂的移动式作业平台满足设计要求,达到预期目标。Aiming at the complex engineering environment and diverse terrain conditions,a mobile operating platform based on active suspension was designed.The structure of the operating platform was designed,and the finite element structure statics analysis of the hydraulic actuated leg was carried out to verify the reliability of the mechanical structure of the actuated leg.The finite element structure dynamics analysis of the whole operating platform was carried out,and the frequency segment of the excitation source which could avoid resonance of the platform was obtained.According to the characteristics of the operating platform,the leveling algorithm of“center point not moving”was adopted,and the control of the platform angle was equivalent to the control of the displacement of the hydraulic actuating leg through the mathematical model.The electro-hydraulic proportional control system of the operating platform was designed,and the effectiveness of PID control algorithm was verified by simulation.The overall performance of the operation platform was verified through tests.The results show that the mobile operation platform based on active suspension meets the design requirements,achieves the expected goals.

关 键 词：主动悬挂 移动式作业平台 电液比例控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]