滑移装载机工作装置减振系统设计与研究
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摘要
滑移装载机作为一种应用于基础设施建设并需频繁进行转场作业的工程车辆,在运输作业过程中工作装置的行驶平顺性成为保持铲斗内物料完整性和提高工作效率的关键。本文以ZHL3210型滑移装载机为研究对象,针对工作装置行驶平顺性的改善进行理论、仿真与实验研究。主要完成的工作如下：
1、论述了振动控制技术和国内外工程车辆减振技术的研究现状,根据滑移装载机的作业特点,分析了运输工况下工作装置振动产生的原因,在明确了主要激振因素和振动传递过程的基础上,提出了基于改变阻尼的工作装置半主动油气减振方案,并建立了工作装置油气减振系统。
2、基于油气减振系统的分析,建立了系统的数学模型,在此基础上推导出了减振系统的非线性刚度特性和阻尼特性,得出了影响系统减振性能的主要结构参数为蓄能器的初始充气压力、初始充气容积、比例节流阀的阀口开度和单向节流阀的通流截面积,并通过对输出特性进行编程运算,分析了系统减振原理。
3、基于减振系统原理和输出刚度、阻尼特性,构建了加入减振系统前、后整机振动系统的物理模型,并应用拉格朗日方程法建立了振动系统的动力学数学模型；根据作业环境的特点,建立了常规工况下的D级随机工程路面模型和特殊工况下的冲击型横向铁路轨道路面模型,以此作为振动系统的激励输入。
4、根据振动系统动力学模型,应用Matlab-Simulink仿真软件分析了减振系统各主要参数对工作装置行驶平顺性的影响规律；以D级工程路面进行系统工况仿真分析,在得出的油气减振系统动力学参数基础上,确定了系统结构参数及元件选型；基于确定参数的减振系统,在D级路况和轨道路况下对工作装置行驶平顺性进行仿真,表明了在D级路况下减振系统能很好的满足系统平顺性要求,但在轨道路况下,其隔振效果较差,提出了针对某一路况设计的固定参数减振系统存在的缺陷。
5、针对固定参数减振系统的不足和实际运输工况下路面的多变和复杂性,采用了基于模糊控制的半主动减振控制方法,结合系统动力学模型建立了半主动减振模糊控制系统,并应用MATLAB-Fuzzy工具箱设计了模糊控制器；根据随机路况和轨道路况建立了分段路面模型,通过仿真评价了不加减振系统、加入固定参数的减振系统和采用模糊控制的半主动减振系统对工作装置行驶平顺性的影响,验证了半主动减振模糊控制方案的有效性。
6、以ZHL3210型滑移装载机为平台进行实车道路试验,验证了油气减振系统对工作装置振动控制的有效性、减振系统和整车振动系统数学模型的正确性以及基于改变系统阻尼的半主动减振控制方案的合理性。
Skid Steer Loader, as a construction vehicle, is applied to infrastructure construction and required frequent transition. Riding comfort of working device is the key to maintain the integrity of the material within the bucket and improve efficiency in the process of transport operations. Taking ZHL3210-type skid steer loader as research object, a way to improve riding comfort of attachment is proved out by means of theoretical studies, simulation analysis, experiment evaluation. The main research works are as follows:
1. Vibration control technology and the current researches about construction vehicle damping technology at home and abroad are investigated and summarized. According to the operating characteristics of skid steer loader, the causes of attachment vibration are analyzed in transport conditions. On the basis of clearly the main excitation factor and vibration transfer process, semi-active hydro-pneumatic damping solution of working device, based on changes in damping, is proposed. And hydro-pneumatic damping system of working device is established.
2. Based on the analysis of hydro-pneumatic damping system, mathematical model of the system is established. Based on the model, nonlinear stiffness and damping characteristics of damping system are derived. It shows that the main structure parameters affecting damping performance of the system are the initial inflation pressure and volume of accumulator, the valve opening of proportional throttle valve, the flow cross-sectional area of one-way throttle valve. And the principle of system damping is analyzed through operating the output characteristics.
3. According to damping system principle and output stiffness, damping characteristics, physical models of whole machine vibration system of adding damping system before and after are built. And dynamic mathematical models of vibration system are deduced by Lagrange equation. Based on the characteristics of working environment, D-level road surface model of random construction in general conditions and shock type road surface model of cross railway tracks in special conditions are constructed as excitation inputs of vibration system.
4. The law of the main parameters of damping system affecting riding comfort of working device, combining dynamics model of vibration system and applying Matlab-Simulink simulation software, are abtained. The kinetic parameters of hydro-pneumatic damping system are derived by simulation analysis of system conditions of D-level road model. Then system parameters and component selection are identified by the simulation parameters. Based on the damping system with determined parameters, riding comfort of working device, with D-level and cross railway tracks road surface models, is simulated and researched. The results show that damping system can well meet the requirements of smooth in D-level road conditions, but its isolation are less effective in railway tracks road conditions. So damping system of fixed parameters designed by a kind of road exists some shortcomings.
5. For the lack of fixed-parameter damping system and ever-changing and complex nature of road surface in actual transport conditions, semi-active vibration control with fuzzy control is used. Then semi-active fuzzy vibration control system is established through combining with system dynamics model. And fuzzy controller is designed by MATLAB-Fuzzy tool box. Based on random road conditions and railway tracks conditions, subparagraph road surface model is built. Finally, with system without damping, fixed parameters of damping system added and semi-active vibration control system with fuzzy control, riding comfort of working device are evaluated through simulation analysis. And semi-active vibration fuzzy control system is verified effectiveness.
6. Vehicle road test is carried out with ZHL3210-type skid steer loader. The results show that hydro-pneumatic damping system can work effectively in working device vibration control, the mathematical models of damping system and vehicle vibration system are correct, and semi-active vibration control scheme based on changing the system damping is reasonable.
1、论述了振动控制技术和国内外工程车辆减振技术的研究现状,根据滑移装载机的作业特点,分析了运输工况下工作装置振动产生的原因,在明确了主要激振因素和振动传递过程的基础上,提出了基于改变阻尼的工作装置半主动油气减振方案,并建立了工作装置油气减振系统。
2、基于油气减振系统的分析,建立了系统的数学模型,在此基础上推导出了减振系统的非线性刚度特性和阻尼特性,得出了影响系统减振性能的主要结构参数为蓄能器的初始充气压力、初始充气容积、比例节流阀的阀口开度和单向节流阀的通流截面积,并通过对输出特性进行编程运算,分析了系统减振原理。
3、基于减振系统原理和输出刚度、阻尼特性,构建了加入减振系统前、后整机振动系统的物理模型,并应用拉格朗日方程法建立了振动系统的动力学数学模型；根据作业环境的特点,建立了常规工况下的D级随机工程路面模型和特殊工况下的冲击型横向铁路轨道路面模型,以此作为振动系统的激励输入。
4、根据振动系统动力学模型,应用Matlab-Simulink仿真软件分析了减振系统各主要参数对工作装置行驶平顺性的影响规律；以D级工程路面进行系统工况仿真分析,在得出的油气减振系统动力学参数基础上,确定了系统结构参数及元件选型；基于确定参数的减振系统,在D级路况和轨道路况下对工作装置行驶平顺性进行仿真,表明了在D级路况下减振系统能很好的满足系统平顺性要求,但在轨道路况下,其隔振效果较差,提出了针对某一路况设计的固定参数减振系统存在的缺陷。
5、针对固定参数减振系统的不足和实际运输工况下路面的多变和复杂性,采用了基于模糊控制的半主动减振控制方法,结合系统动力学模型建立了半主动减振模糊控制系统,并应用MATLAB-Fuzzy工具箱设计了模糊控制器；根据随机路况和轨道路况建立了分段路面模型,通过仿真评价了不加减振系统、加入固定参数的减振系统和采用模糊控制的半主动减振系统对工作装置行驶平顺性的影响,验证了半主动减振模糊控制方案的有效性。
6、以ZHL3210型滑移装载机为平台进行实车道路试验,验证了油气减振系统对工作装置振动控制的有效性、减振系统和整车振动系统数学模型的正确性以及基于改变系统阻尼的半主动减振控制方案的合理性。
Skid Steer Loader, as a construction vehicle, is applied to infrastructure construction and required frequent transition. Riding comfort of working device is the key to maintain the integrity of the material within the bucket and improve efficiency in the process of transport operations. Taking ZHL3210-type skid steer loader as research object, a way to improve riding comfort of attachment is proved out by means of theoretical studies, simulation analysis, experiment evaluation. The main research works are as follows:
1. Vibration control technology and the current researches about construction vehicle damping technology at home and abroad are investigated and summarized. According to the operating characteristics of skid steer loader, the causes of attachment vibration are analyzed in transport conditions. On the basis of clearly the main excitation factor and vibration transfer process, semi-active hydro-pneumatic damping solution of working device, based on changes in damping, is proposed. And hydro-pneumatic damping system of working device is established.
2. Based on the analysis of hydro-pneumatic damping system, mathematical model of the system is established. Based on the model, nonlinear stiffness and damping characteristics of damping system are derived. It shows that the main structure parameters affecting damping performance of the system are the initial inflation pressure and volume of accumulator, the valve opening of proportional throttle valve, the flow cross-sectional area of one-way throttle valve. And the principle of system damping is analyzed through operating the output characteristics.
3. According to damping system principle and output stiffness, damping characteristics, physical models of whole machine vibration system of adding damping system before and after are built. And dynamic mathematical models of vibration system are deduced by Lagrange equation. Based on the characteristics of working environment, D-level road surface model of random construction in general conditions and shock type road surface model of cross railway tracks in special conditions are constructed as excitation inputs of vibration system.
4. The law of the main parameters of damping system affecting riding comfort of working device, combining dynamics model of vibration system and applying Matlab-Simulink simulation software, are abtained. The kinetic parameters of hydro-pneumatic damping system are derived by simulation analysis of system conditions of D-level road model. Then system parameters and component selection are identified by the simulation parameters. Based on the damping system with determined parameters, riding comfort of working device, with D-level and cross railway tracks road surface models, is simulated and researched. The results show that damping system can well meet the requirements of smooth in D-level road conditions, but its isolation are less effective in railway tracks road conditions. So damping system of fixed parameters designed by a kind of road exists some shortcomings.
5. For the lack of fixed-parameter damping system and ever-changing and complex nature of road surface in actual transport conditions, semi-active vibration control with fuzzy control is used. Then semi-active fuzzy vibration control system is established through combining with system dynamics model. And fuzzy controller is designed by MATLAB-Fuzzy tool box. Based on random road conditions and railway tracks conditions, subparagraph road surface model is built. Finally, with system without damping, fixed parameters of damping system added and semi-active vibration control system with fuzzy control, riding comfort of working device are evaluated through simulation analysis. And semi-active vibration fuzzy control system is verified effectiveness.
6. Vehicle road test is carried out with ZHL3210-type skid steer loader. The results show that hydro-pneumatic damping system can work effectively in working device vibration control, the mathematical models of damping system and vehicle vibration system are correct, and semi-active vibration control scheme based on changing the system damping is reasonable.
引文
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