轮式工程车辆转向系统控制研究

Research on the Control of Wheel-construction Machinery's Streeing System

转向系统是工程机械的重要组成部分,全液压转向系统可使工程车辆实现直线行驶、双轮转向、全轮转向、斜行、横行和原地转向。根据其工作原理推导出了该控制系统的动态响应数学模型。为提高控制系统性能,引入模糊PID控制算法,并在Simulink环境中对数学模型进行模拟仿真,对比分析了常规PID控制和自适应模糊PID控制对系统动态性能的影响,证明模糊PID控制能很好地提高转向系统的动态响应性能。

Steering system is an important part of construction machinery, entire hydraulic pressure steering system allows engineering vehicles to achieve a straight line running, two-wheeled steering, all-wheel steering, oblique running, and in situ steering. The dynamic mathematical model of the control system was derived in accordance with its working principle. The PID control algorithm was introduced to improve control system performance. And the mathematical model was simulated in the Simulink environment, and compared the adaptive fuzzy PID control system＇s impact of dynamic performance with conventional PID control system＇s, it was proved that fuzzy PID control could improve the dynamic response performance of the steering system.