装载机工作装置数字电液比例控制仿真研究.pdfVIP

摘 要 目前国内装载机已基本实现了工作装置的电液比例先导控制，但受实际工作环境和作 业对象复杂的限制，在进行铲掘作业时，仍无法摆脱通过操作手柄来完成作业。为了提高 装载机的作业平稳性，提高操作的自动化程度，本文对装载机液压系统做了部分改进，采 用了以高度开关阀作为导阀与多路换向阀构成的数字电液控制，并对装载机工作装置液压 系统进行建模仿真，主要研究工作如下： 采用 AMESim 软件对装载机工作装置液压系统进行仿真分析，得出装载机在铲装作业 时，动臂和转斗液压缸内油液压力曲线和活塞杆位移曲线。并针对仿真中出现的液压缸内 液体压力振荡现象和工作循环结束时出现的压力继续升高现象进行分析，并提出了改进方 案，最后再次通过仿真验证改进方案的可行性。 在装载机工作装置位置自动控制的实现方面，本文根据系统的结构建立了系统的数学 模型，导出开环传递函数和闭环传递函数，判断了系统的稳定性。分别采用了普通PID算 法和模糊自整定PID参数法设计了位置控制器，运用Matlab/Simulink 对控制系统的数学 模型进行了仿真比较。仿真结果表明，采用模糊自整定PID参数法能显著提高系统的控制 效果，系统的稳态特性得到了改善，并具有较好的自适应能力。 关键词：工作装置；数字电液比例控制；AMESim；模糊自适应PID I Abstract At present, domestic wheel loader working device basically achieved electro-hydraulic proportional control. However, it is restricted by the actual work environment and complex operation objects, the work of shoveling material is still manipulated by manipulator controlling the handle of the shaking arms or the bucket at present. In order to improve the loader operation stability and achieve the loader automatic control, in this article, an improvement was made in the loader hydraulic system: the high-speed switch valve was used as pilot valve to control the multiple-unit valve, which makes up of a new type digital electro-hydraulic proportional control. Some models and simulations were made for the wheel loader working device hydraulic system are as follows: The model of the working device hydraulic system was built by the software AMESim. By the simulation of the actual working condition, pressure curve of the arm and bucket cylinder and displacement curve of the piston rod can be got. According to the pressure oscillation and the pressure continues to rise at the end of the work cycle phenomena, analysis and put forward the improvement scheme, then once again simulate the