钢内衬管道运输车电液转向系统建模与仿真分析

Modeling and simulation analysis of electro-hydraulic steering system of steel-lined tanker

电液转向执行机构的性能直接影响钢内衬管道运输车的转向响应和操控性,比例阀作为电液转向系统的核心控制元件,其性能的优劣直接关系到整个系统的动态响应和稳定性。文中结合钢内衬管道运输车多轮转向系统电液转向执行机构,对比例阀的负载压力及流量特性进行了详细分析,结合非对称液压缸结构特点建立了非对称液压缸负载流量方程及其动力学模型,在此基础上利用拉普拉斯变换推导了能够表征阀控非对称液压缸动态特性的数学模型,最后基于Matlab Simulink对电液转向执行机构的动态特性进行仿真,验证所建立模型的准确性。

The performance of electro-hydraulic steering actuator will directly affect the steering response and maneuverability of steel-lined tanker.Proportional valve is a core control component of electro-hydraulic steering system,and its performance is directly related to the dynamic response and stability of the whole system.Combined with the electrohydraulic steering actuator of multi-wheel steering system of steel-lined pipeline transport vehicle,the load pressure and flow characteristics of proportional valve are analyzed in detail.Combined with the structural characteristics of asymmetric hydraulic cylinder,the load-flow equation and its dynamic model of asymmetric hydraulic cylinder were established.On this basis,a mathematical model which can characterize the dynamic characteristics of valve-controlled asymmetric hydraulic cylinder was derived through Laplace transformation.Finally,the dynamic characteristics of electro-hydraulic steering actuator were simulated based on Matlab Simulink to verify the accuracy of the established model.