高空作业车电液自动调平系统的研究
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摘要
高空作业车广泛用于建筑、市政、机场、工厂、园林、住宅等场所，从事消防、抢险救灾、施工、安装、维护等工作。本文针对徐工集团CDZ22型高空作业车，采用了三种电液方式来实现作业平台的自动调平，进行了大量的理论研究和实验测试。
论文第一章中，首先介绍了高空作业车调平系统的基本原理、发展历程及国内外研究现状，总结出高空作业车自动调平系统存在的关键性问题，拟重点研究其核心控制单元电液控制阀，故对高速开关阀和比例伺服阀进行了性能上的对比。然后论述了课题的研究意义和重点研究内容。
论文的第二章中，采用HSV常开高速开关阀作为先导控制阀、锥阀作为二级阀的方案，以达到高空作业车40L／min的大流量的控制要求；依靠回油腔的高速开关阀的开关动作调节回油量，实现作业平台的自动调平。在机械方面，对液压系统所需的部分元件进行了选型，设计了锥阀阀芯、阀套的结构，并设计了一个集成阀块，使各个元件的流道连通，协调工作。在电路上，设计电路板接受传感器的反馈信号，经过信号处理之后，输出对应的信号驱动各个电磁铁，对平台的倾斜角度实时地进行调整，使平台底面始终处于水平状态。然后，建立了高速开关阀控制锥阀的数学模型，并应用Matlab中的Simulink工具，采用S函数编程的方法进行了仿真分析，得到了输入PWM脉冲信号时，阀芯位移、压力、流量等随时间变化的曲线。最后，把整套系统连接组装起来进行实验，模拟高空作业车的实际调平状态。实验结果表明，高速开关阀控制锥阀的方案是可行有效的。
论文的第三章中，采用HSV常闭高速开关阀作为先导控制阀、滑阀作为二级阀的方案。首先对液压系统所需的部分元件进行了选型，设计了滑阀阀芯、阀套的结构，并设计了一个集成阀块的机械结构。然后，设计控制电路板，最后进行实验数据的测试。实验结果表明，高速开关阀控制滑阀的方案是可行有效的。
论文的第四章中，采用比例伺服阀的方案，着重介绍了比例伺服阀的控制板的设计，实现了所需的控制功能。尤其针对各种特殊情况，如使能、电源电压过低、反馈信号断路、电磁铁短路、报警等电路进行了详细的讨论，提高了比例伺服阀控制板的可靠性。
论文第五章中，对全文工作进行了研究总结，对三种方案的优劣进行了比较分析，并对后续工作提出了展望。
The high-altitude working machine has been widely used in architecture, city planning, aerodrome, factory, garden, house and other places. It plays an important role in fire protection, dealing with an emergency, construction, installation, maintenance and so on. Aiming at the CDZ22 high-altitude working machine of XuZhou engineering machinery Group, this thesis adopts three electro-hydraulic methods to realize the automatic level control system. It does a lot of theoretical research and experiment test.
In Chapter 1, firstly introduces the basic principle, the development and the research actuality in China and foreign contries of the automatic level system of the high-altitude working machine. Then summarizes the key factors which influence the system performance. Next, compares the high speed on/off valve and proportional servo valve which will be used in the next few chapters. At last, describes the research significance and the research contents.
In Chapter 2, uses the high speed on/off valve as the pilot-operated valve and cone-shaped valve as the secondary valve, so it can reach the flow rate 40L/min. The system depends on the switch action of the high speed on/off valve in the return line to adjust the return oil, and then realizes the automatic level control of the working platform. So it's a meter-in circuit. In mechanism, chooses the type of some necessary components, designs the structure of the valve element, valve sleeve and the valve base which connects the flow pipeline. In circuit, designs a control board which adjusts the level automatically in real time. The board firstly receives the signal from the angle sensor, deals with it, and then outputs several signals to control the solenoids. Next, sets up the mathematic model of the high speed on/off valve controlling the cone-shaped valve, and uses Simulink toolbox in Matlab to programe S function to realize the simulation analysis. When inputs a PWM pulse to the high speed on/off valve, gains the movement curves of the valve element displacement, pressure and flow rate. At last, assembles the whole system to do the experiment, simulates the working state of the high-altitude working machine. The result proves that the system works very well.
In Chapter 3, uses the high speed on/off valve as the pilot-operated valve and slide valve as the secondary valve. Firstly, chooses the type of some necessary components, designs the structure of the valve element, valve sleeve and valve base.Then designs a control board. At last, does several experiments with the whole system.
论文第一章中，首先介绍了高空作业车调平系统的基本原理、发展历程及国内外研究现状，总结出高空作业车自动调平系统存在的关键性问题，拟重点研究其核心控制单元电液控制阀，故对高速开关阀和比例伺服阀进行了性能上的对比。然后论述了课题的研究意义和重点研究内容。
论文的第二章中，采用HSV常开高速开关阀作为先导控制阀、锥阀作为二级阀的方案，以达到高空作业车40L／min的大流量的控制要求；依靠回油腔的高速开关阀的开关动作调节回油量，实现作业平台的自动调平。在机械方面，对液压系统所需的部分元件进行了选型，设计了锥阀阀芯、阀套的结构，并设计了一个集成阀块，使各个元件的流道连通，协调工作。在电路上，设计电路板接受传感器的反馈信号，经过信号处理之后，输出对应的信号驱动各个电磁铁，对平台的倾斜角度实时地进行调整，使平台底面始终处于水平状态。然后，建立了高速开关阀控制锥阀的数学模型，并应用Matlab中的Simulink工具，采用S函数编程的方法进行了仿真分析，得到了输入PWM脉冲信号时，阀芯位移、压力、流量等随时间变化的曲线。最后，把整套系统连接组装起来进行实验，模拟高空作业车的实际调平状态。实验结果表明，高速开关阀控制锥阀的方案是可行有效的。
论文的第三章中，采用HSV常闭高速开关阀作为先导控制阀、滑阀作为二级阀的方案。首先对液压系统所需的部分元件进行了选型，设计了滑阀阀芯、阀套的结构，并设计了一个集成阀块的机械结构。然后，设计控制电路板，最后进行实验数据的测试。实验结果表明，高速开关阀控制滑阀的方案是可行有效的。
论文的第四章中，采用比例伺服阀的方案，着重介绍了比例伺服阀的控制板的设计，实现了所需的控制功能。尤其针对各种特殊情况，如使能、电源电压过低、反馈信号断路、电磁铁短路、报警等电路进行了详细的讨论，提高了比例伺服阀控制板的可靠性。
论文第五章中，对全文工作进行了研究总结，对三种方案的优劣进行了比较分析，并对后续工作提出了展望。
The high-altitude working machine has been widely used in architecture, city planning, aerodrome, factory, garden, house and other places. It plays an important role in fire protection, dealing with an emergency, construction, installation, maintenance and so on. Aiming at the CDZ22 high-altitude working machine of XuZhou engineering machinery Group, this thesis adopts three electro-hydraulic methods to realize the automatic level control system. It does a lot of theoretical research and experiment test.
In Chapter 1, firstly introduces the basic principle, the development and the research actuality in China and foreign contries of the automatic level system of the high-altitude working machine. Then summarizes the key factors which influence the system performance. Next, compares the high speed on/off valve and proportional servo valve which will be used in the next few chapters. At last, describes the research significance and the research contents.
In Chapter 2, uses the high speed on/off valve as the pilot-operated valve and cone-shaped valve as the secondary valve, so it can reach the flow rate 40L/min. The system depends on the switch action of the high speed on/off valve in the return line to adjust the return oil, and then realizes the automatic level control of the working platform. So it's a meter-in circuit. In mechanism, chooses the type of some necessary components, designs the structure of the valve element, valve sleeve and the valve base which connects the flow pipeline. In circuit, designs a control board which adjusts the level automatically in real time. The board firstly receives the signal from the angle sensor, deals with it, and then outputs several signals to control the solenoids. Next, sets up the mathematic model of the high speed on/off valve controlling the cone-shaped valve, and uses Simulink toolbox in Matlab to programe S function to realize the simulation analysis. When inputs a PWM pulse to the high speed on/off valve, gains the movement curves of the valve element displacement, pressure and flow rate. At last, assembles the whole system to do the experiment, simulates the working state of the high-altitude working machine. The result proves that the system works very well.
In Chapter 3, uses the high speed on/off valve as the pilot-operated valve and slide valve as the secondary valve. Firstly, chooses the type of some necessary components, designs the structure of the valve element, valve sleeve and valve base.Then designs a control board. At last, does several experiments with the whole system.
引文
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