【作者】 吴超；

【导师】 马文星；

【作者基本信息】 吉林大学 ， 机械设计及理论， 2006， 硕士

【摘要】 本文结合国家经贸委“多功能路面清雪车”项目,针对路面探测信息状况,对清雪车雪铲自动控制系统进行研究,实现路面雪层厚度探测及清雪车雪铲自动避障功能。主要工作如下:1.运用软件GprMaxV2.0建立含障碍物的积雪路面模型。针对探地雷达电磁波在不同介质交界面上的特性,对仿真的回波数据进行分析,说明了探地雷达的回波数据与路面信息之间的关系。通过对积雪路面进行探测试验,采集路面探测数据。利用MATLAB软件对采集数据进行分析,选择合适的控制算法和设定控制门限。2.介绍了雪层厚度计算的理论基础,采用BP神经网络,计算积雪路面雪层厚度。通过结果对比和误差分析,说明了神经网络在雪层厚度计算中应用的可行性。3.通过对液压控制系统进行分析比较,综合考虑清雪车清除冰雪的特点、要求及成本等因素,在已选取的控制算法基础上,选择电液开关控制系统作为清雪车工作装置的控制系统。建立清雪车雪铲自动控制系统,分析控制系统的构成。针对工作装置液压控制系统,介绍了对称阀控制非对称液压缸的传递函数,确定液压控制系统各元件参数,利用软件AMESim对液压控制系统进行仿真分析。更多还原

【Abstract】 The ways to clean heaped snow on speedways, highways and urban streets in winter has been the research focus around the world over the years. Snow-cleaning work bears close relation to a series of issues such as social production, people’s daily lives, traffic safety and environmental protection in northern cities. With social development and the ever-increasing level of mechanical technology, people are pressed for an efficient and roboticized device to sweep snow in place of the conventional snow-cleaning method.This research was conducted through the multifunction snow remover project sponsored by the State Economic and Trade Commission. Based on the road detection information obtained by GPR(ground penetration radar), the study is carried out on the automatic control system for the snow-remover’s shovel to effect the detecting of road snow thickness and fulfill the shovel’s automatic obstacle-avoiding function. The specific work involves:(1)The forward model of the snow road with obstacles is established by using GprMaxV2.0 software and applying the basic principles of the electromagnetic wave theory. The detection echo data obtained from the simulated model is calculated. In light of the variant properties of the GPR electromagnetic wave at different medium interfaces, the echo data from the simulation is given a detailed analysis to explore the road surface information pattern from the radar echo data.(2)The GPR is employed to carry out grouped detection experiments on the snow-heaping road surface to collect the echo data. The collected data are entered into the MATLAB software for analysis; the correlation coefficient method is selected as the control algorithm considering the difference among echo data curves. The existence of obstacles on the road surface is judged through calculating更多还原