工程行走作业车辆机械液压复合传动箱控制方法研究-机械工程专业论文.docx

Research on Control Technology of Engineering Walking Vehicle Equipped with Hydro-mechanical Transmission Box A Dissertation Submitted for the Degree of Master Candidate：Zhang Ming Supervisor：Associate Prof. GaoZiyu Chang’an University, Xi’an, China I I PAGE PAGE IV 摘 要 随着我国的现代化建设步伐的不断加快，工程行走作业车辆的需求量也在不断加 大。工程行走作业车辆在要求具备高速转场运输能力的同时，往往在作业时还要求其具 有较低的稳定行驶速度，传统单一的传动方式由于技术及成本的原因已无法很好的解决 这一问题，而机械液压复合传动方式以其相对于各种单一传动技术的优势将会逐步取代 传统传动方式。 随着工程机械行业智能化水平的不断提高，其智能控制系统的设计变得越来越重 要。本文依据机械液压复合传动箱的工作原理及其实际工况的需求对控制方案进行了进 一步研究，确定了控制系统的要求和主要功能，特别是基于 CAN 总线的发动机控制原 理，并在此基础上基于 Intercontrol 公司 Digsy Compact 控制器完成了控制系统程序的二 次开发，最后基于 MATLAB/SIMULINK 软件对速度控制系统进行了建模及仿真分析， 得到了适合实际工况的控制参数，并通过初步整车试验验证了控制系统方案的可行性。 关键词: 机械静压复合传动; 控制系统; 速度控制; 建模仿真 Abstract With the development of modernization,the demand of the Engineering walking vehicle has become obviousgreater in modernization construction.The Engineering walking vehicle require the ability of low working speed and high-speed transportation ability.Traditional single transmission model can’t solve this problem perfectly.The hydro-mechanical transmission model will replace its position due to its superiority to the traditional single transmission model. As the rising of construction machinery industrys intelligent level,the design of construction machinery automation control has become obvious important in the area of engineering machinery. According to the requirement of actual working condition and the depth study on the principle of hydro-mechanical transmission box,this paper determine the requirement and function of control system.Also complete thesecondary development of the control system program with the Digsy Compact of Intercontrol.We mainly study the engine control method based on can-bus.Finally,the mathematical model of the control system is established and simulated by MATLAB/SIMULIN software.Via the simulation,we obtain the feasibility of the program through preliminary vehicle tests. Key words: Hydro-mechanical Transmission;