【作者】 程斐；

【导师】 赵静一；

【作者基本信息】 燕山大学 ， 机械电子工程， 2014， 博士

【摘要】 钢铁工业是一个运输密集型的行业，物流成本在整个生产成本中占有较大的比重。无轨运输因其投资小、占地少、机动灵活、运行畅通、效率高等优点较铁路运输对于减小物流成本具有显著的效果。发达国家的厂区物料运输多采用无轨运输，物流成本只占总成本的8%~10%，而我国仍以铁路运输为主导，物流成本占总成本的30%，因此无轨运输已经成为我国钢铁行业物料运输的发展趋势。自行式框架车因其可配合料篮完成各种钢铁企业厂内物料转运作业、工作效率高、载重量大、操作简单、性能优良等优点成为无轨运输的主力军。车辆优良的电液控制系统是自行式框架车在高速、大载荷的工况下长期运行的必要条件。本文以自行式框架车电液控制系统重要的两大组成部分：闭式液压驱动系统和悬架液压系统为研究对象，结合实际应用中暴露的问题，对闭式液压驱动系统和悬架液压系统的操控性、安全性和平顺性进行了深化研究，主要研究内容如下：(1)针对自行式框架车行驶速度快、机动性好的工作要求，设计车辆新型闭式液压驱动系统，改进设计车辆的差速与差力控制功能；为进一步提高车辆的操控性与安全性设计车辆的启动液压延时预警系统和闭式液压驱动系统的过滤装置。(2)为优化变量泵的排量控制，解决悬架液压系统、转向液压系统和辅助液压系统与闭式液压驱动系统功率需求间的矛盾，采用了一种新型的复合控制方式——伺服超驰控制技术，并分析该控制方式的工作原理动态特性。(3)为满足厂内物流运输对车身高度可调性以及四点悬架驱动同步性的要求，设计具有保压和失压保护功能的悬架电液控制系统；为克服自行式框架车悬架液压系统与转向液压系统对油源控制形式需求差异的矛盾，研制一种负载敏感液压泵的恒压变量控制装置。(4)针对自行式框架车四点悬架同步升降系统存在的耦合性、非线性、模型参数不确定性的特点，提出一种基于多点输出耦合的模糊PID多缸同步驱动控制策略，并通过仿真分析与实验分析验证其有效性。(5)针对自行式框架车额定载荷大、行驶速度快、受地面冲击大的特点，在传统自行式液压载重车定刚度液压弹簧悬架的基础上，改进设计适应自行式框架车作业要求的悬架液压系统；提出悬架液压系统顺应性的评价指标，并且在MATLAB/Simulink环境中模拟分析随机路面输入下，自行式框架车在空载与满载两种工况下，两种悬架液压系统的顺应性；最后通过现场对比实验验证改进后的悬架液压系统对于改善车辆行驶平顺性的效果。(6)设计基于USB7360A型数据采集卡的硬件采集系统和LabVIEW的数据采集处理软件系统，对车辆的闭式液压驱动系统、悬架液压系统和转向液压系统的关键参数进行测试，来验证理论设计的合理性。更多还原

【Abstract】 The iron and steel industry is an intensive transportation industry. The logistics costsoccupies a higher proportion in the whole cost of production. Trackless transportation withits significant advantages such as less land occupation, flexibility, smooth operation, highefficiency can decrease effectively the cost of logistics compare with railwaytransportation. Because of that, in developed countries, the proportion of logistics costs isas low as8%~10%. But in China, the railway transportation is still the predominantmode of transport, and the proportation is up to30%. Hence, trackless transportation is thedeveloping trend in our country.Self-propelled carrier-vehicle has becoming one of the main trackless transportationsbecause of it can match with the basket to complete the tranfer of material, small landoccupied, high efficiency, large capacity and high performance, etc. The performance ofelectro-hydraulic control system is essential condition for the long-time operation of thevehicle in the condition of high speed and large load. In this paper, the objects of study arethe closed hydraulic driving system and suspending mechanism hydraulic system whichare the importance components in electro-hydraulic control system. Further studycombined with problems occurred on the operation, improves handling, safety, smoothoperation for the two systems are conducted. The main research contents are as follows:(1)According to the working requirements of high running speed and goodmaneuverability for self-propelled carrier-vehicle, a new closed hydraulic driving systemis designed, with the improved design of vehicle’s differential speed and force controlfunctions. To improve the vehicles’ operational safety furtherly, the vehicle’s hydraulicdelay warning control system and filter devices of the closed hydraulic driving system aredesigned.(2)A new composite control method-servo override control technology is used tooptimize the displacement control of variable pump and to manage the contradictions ofpower requirements among the closed hydraulic driving system, steering hydraulic systemand auxiliary systems, and dynamic characteristic of the control method is analyzed. (3)For meeting requirements of the height could be adjusted flexibly and four pointssupporting suspending mechanism has higher synchronous precision, the electro-hydrauliccontrol system with pressure sustaining and pressure loss protection has been designed.The constant pressure variable control system based on load sensing pump has beenproposed innovatively, which manages the contradiction between suspending mechanismand steering hydraulic systems on demand difference to oil source control form.(4)According to the characteristics of coupled, nonlinear and uncertainty of modelparameters existed in the synchronous lifting system, a fuzzy PID multi-cylindersynchronous driving control strategy based on multi-point output coupling has been putforward, and its effectiveness is verified through simulation and experimental analysis.(5)Whereas the characteristics of heavy rated load, fast running speed and largeimpact of ground excitation, a new suspending mechanism hydraulic system which meetsthe operational requirements of self-propelled carrier-vehicle is designed based on thetraditional constant stiffness hydraulic spring suspending mechanism. The evaluationindex of compliance of suspending mechanism hydraulic system has been put forward,and in the MATLAB/Simulink environment the compliance has been analyzedcontrastively in the simulation of random road input with the vehicle under two workingconditions. And validate effect of the developed suspending mechanism hydraulic systemon improving vehicles’ running compliance through on site contrast experiment finally.(6)The hardware acquisition system based on USB7360A data acquisition card andthe data processing system based on LabVIEW have been designed. Through this testdevice, the key parameters of vehicles’ systems (closed hydraulic driving system,suspending hydraulic system and steering hydraulic system) have been measured tovalidate the rationality of theoretical design.更多还原