摘要
高空消防车是现代消防装备中极为重要的组成部分,在高空灭火、救援,甚至施工上有着举足轻重的作用。在对多款高空消防车产品进行调研后发现,高空消防车臂架在变幅过程中普遍存在抖动厉害、平稳性差的现象,如果这种情况不加以改善,将直接影响高空消防车作业的稳定性,轻则降低其整车性能、影响作业效率,重则引发安全事故、造成人员伤亡。因此,研究如何改善臂架变幅过程中的平稳性,有着重要的现实意义。
本文的主要研究工作如下：
1.建立臂架机构的多体模型,应用ADAMS工具对其进行运动学仿真,分析其运动学特性。结果表明：臂架变幅过程的平稳性与臂架驱动液压缸活塞杆的伸缩速度存在一定关系,在特定的液压缸伸缩速度下,臂架能够获得较好的变幅平稳性；在双缸驱动情况下,双缸动作的同步精度对变幅平稳性有较大影响。
2.研究应用于高空消防车臂架双缸驱动同步控制的策略和方法,依此设计了臂架双缸同步驱动电液控制系统,建立了系统各环节的数学模型,并在MATLAB/Simulink环境下对控制系统进行了仿真。结果表明,该系统是稳定可行的,并具有较高的同步控制精度,能够满足臂架平稳变幅的要求。
3.通过分析CDQ24高空消防车臂架控制系统的原理及实现方法,结合活塞杆伸缩速度特性与臂架变幅平稳性的关系,发现其控制系统无法实现按照特定的速度特性控制液压缸活塞杆的伸缩是造成其臂架变幅平稳性差的主要原因。基于此,提出了实现臂架平稳变幅的控制策略,并设计了适用于高空消防车臂架平稳变幅的控制方案,并就该方案设计了部分控制算法。
4.应用2、3项的研究成果,搭建了高空消防车臂架运动控制实验模型。利用该模型进行实验与测试,结果表明本文所提出的控制策略和方法是正确、实用和可行的。
Aerial fire truck is an extremely important part of modern fire-fighting equipments, as it plays a significant role in high-altitude fire fighting, human rescuing, as well as in normally project engineering. Based on investigation on several styles of aerial fire truck products, we find there generally exists the fact of shaking heavily, poor balance in jib luffing process. If the situation can't be improved, it will lead to a direct influence on the stability of the operation of aerial fire truck. Thus it will decrease property of the whole vehicle, and influence its efficiency, what's worse, it may lead to a safety accident. Thus, it is urgent and full of reality importance to do a research and settle down the stability problem during the jib luffing process.
The main work of this dissertation is as follows.
1. A multi-body model of the jib mechanism was set up first. Then kinematics simulation was done by adopting ADAMS kits to get its kinematics characteristics. The simulation results shows that there exists a relationship between the jib luffing process's stability and the speed of jib driving hydraulic cylinder piston rod. Under particular moving speed, the jib can get better luffing stability. In the case of double cylinder driving, synchronization accuracy of the two hydraulic cylinders will have a great influence on jib luffing stability.
2. Strategies and methods for synchronization control of the aerial fire truck jib driving cylinders were investigated. The electrohydraulic control system for jib driving cylinders was designed based on the proposed control strategies. Mathematical models of each part of the system were set up and the whole system was simulated under MATLAB/Simulink environment. The simulation results have shown that the control system is stable and owns high synchronization control accuracy, which can fulfill the needs on jib luffing stability.
3. Through analyzing principles and realization methods for CDQ24aerial fire truck jib luffing control system, combined with the relationship between the speed characteristics of the piston rod and the jib luffing stability, the main reason which leads to poor jib luffing stability lies on its control system cannot adjust the hydraulic piston rod's moving action according to special speed characteristics.
4. Test model for motion control of the aerial fire truck was set up by adopting the former research results. The model was used to implement the control strategies for testing. The test results shows that the research results gain in this dissertation is correct, practical and feasible.
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