【作者】 王永奇；

【导师】 龙水根；

【作者基本信息】 长安大学 ， 机械设计及理论， 2008， 博士

【摘要】 论文研究依托于三一重工与长安大学的合作项目：“全液压推土机匹配与行驶控制系统研究”和“履带式智能推土机关键技术研究”，对智能全液压推土机控制系统进行了深入研究。论文研究主要完成以下内容：1．收集和整理了国内外智能全液压推土机行驶控制系统、状态监测与故障诊断技术研究的相关技术与发展现状，分析了国外著名推土机厂家所用的发动机、控制器和显示器技术性能参数，并对有关技术专利进行了检索与分析；2．分析了智能全液压推土机行驶液压驱动系统效率和参数匹配，提出了变量马达和变量泵闭式系统的控制策略及变量马达和变量泵的最大排量比为2～2．5，如小于2，必须控制推土机的最大车速(全液压推土机终减速比不宜过大，i＜70)，否则会造成变量马达超速，容易造成变量马达轴承损坏；3．分析了智能全液压推土机行驶系统特点和作业要求，提出智能全液压推土机行驶系统的控制模式和控制方案，确定了系统组成；完成了控制器选型，控制系统硬件设计和外围电路设计；4．提出智能推土机状态监测与故障诊断的检测、诊断模式和方案，确定了系统组成，选择了合适的显示器，用CAN总线搭建了系统通信平台；5．给出了智能控制系统各模块功能的实现方法，确定了各模块的关键控制参数和控制子程序流程图，完成了行驶控制、故障诊断、显示和通讯系统的软件设计，实现了推土机各项控制功能；通过样机程序调试，确定了控制系统的关键参数；6．分析了推土机用发动机工作特性曲线，提出了智能推土机极限负荷调节的不同档位目标转速和负荷率，以及对发动机进行极限负荷调节的方法；7．分析研究了智能全液压推土机发动机与液压系统静态和动态控制特性，并对液压系统进行了仿真研究，提出了发动机与液压系统匹配控制策略；8．通过试验研究，分析了TQ160C发动机工作点匹配情况以及变量泵、变量马达控制信号，提出了全液压推土机合理档位范围；9．对智能全液压推土机极限负荷调节系统控制算法进行了深入研究，提出采用基于模糊推理规则的参数自整定PID算法的发动机转速控制以及采用改进的PID算法行驶纠偏方法。针对变化的负荷采用不同的K_P、K_I、K_D参数，同时调节变量泵和变量马达的排量。运用Matlab-Simulink对PID和模糊PID进行了方针比较。实践证明：采用该算法能有效地减小发动机转速波动，提高了发动机功率利用率；10．设计了控制系统模拟试验板，对推土机的前进／后退、停车、起步、左／右转向及原地转向等基本功能进行了模拟调试试验；对推土机状态监测与故障诊断系统性能和功能进行了模拟试验；11．在样机上进行了参数标定、行驶试验、故障显示、报警试验、直线纠偏和控制参数标定等程序调试试验；对样机进行了牵引试验和作业试验，样机性能达到要求。更多还原

【Abstract】 This paper studies the control system of intelligent hydrostatic bulldozer thoroughly,supported by the cooperation items between SANY Heavy Industry Co.Ltd and Chang’anUniversity—“Study on Hydrostatic Bulldozer Matching and Traveling control system”and“Study on Key Techniques of Intelligent Hydrostatic Crawler Tractors”.Main contentsincluded in this paper are:1.Collect and coordinate the technologies and developments on control systemes of thetraveling、the state watching and the failure diagnose methods used on hydrostatic bulldozersall the world,Analyze the parameters of engine、controller and displayer used on famousforeign bulldozers,Search and analyze related patents;2.Study the traveling system efficiency and matching parameters of intelligenthydrostatic bulldozers,Advise a control mode of the variable displacement pump and motor:the max displacement ratio on motor and pump should be between 2～2.5,if it is less than 2,the max velocity of bulldozer must be decreased(decrease the end gear of hydrostaticbulldozer,i〈70),if not,the rev of motor will excess the max,bear will be destroyed early;3.Analyze the travel system characteristic and requirement of intelligent hydraulicbulldozers,Advise the control mode,method and composing,choose a adaptedcontroller,design the hardware;4.Advise methods、modes and schemes of the fault diagnose,design the fault diagnosesystem,choose the displayer,build the communicate system on CAN;5.Advise module design method of the intelligent controller system,design thesoftware of drive control,fault diagnose,communication system,realize the control functionsof bulldozer,confirm some key parameters of the control system;6.Study the engine curve characteristic which used on bulldozers,advise the aimrev,the load rate of vary shelves of the intelligent bulldozer and the high-point adjust methodof engine;7.Study the static and dynamic characteristics of the engine and hydraulic system,studythe hydraulic system with the simulation,advise the match and control methods;8.Study the work status of engine,variable pump and motor through the TQ160C bulldozer experiment,advise a reasonable shelve of the hydraulic bulldozer;9.Study the high-point load adjust control arithmetic of the intelligent hydrostaticbulldozer,advise an engine rev control method based on fuzzy PID,adopt the different K_P、K_I、K_D for variable load,compare the PID control method and fuzzy control method with thesimulation on Matlab-Simulink,it is proved by practice that the fuzzy control method candecrease the rev wave of engine,increase the used rate of engine power;10.Design a simulate test system on the control system,debug the forward/back、stop、start、left/right turn module,and the state inspect and fault diagnose method;11.Using the sample machine,experiments are done on the parameter demarcate,drive,fault diagnose,beeline drive,control parameter demarcate,traction and work,it is proved the performance of the sample machine has meet the design requirement.更多还原