全液压清扫车行走系统控制器设计及仿真

Design and Simulation of Hydraulic Sweeper Driving System Controller

为了改善全液压清扫车行走系统的加速特性,设计了行走系统的高、低速段模糊控制器,低速段响应速度快,高速段稳定性较好。建立了行走系统的模型,并设计了模糊控制器,将速度偏差和偏差变化率作为模糊控制器的输入变量,将变量泵和变量马达的排量作为输出变量,同时分别建立了隶属度函数和控制规则。在Simulink中设置了联合仿真的接口,对清扫车行走系统进行了仿真。仿真结果表明,该清扫车行走系统具有较好的加速特性,行驶过程液压无级变速,加速过程平顺。

In order to improve the acceleration characteristics of the hydraulic sweeper, the fuzzy controller in high and low speed sections is designed. In low speed section it responses fast, and in high speed section it has good stability. The model of the driving system is established, and the fuzzy controller is designed. The fuzzy input variables are the speed deviation and the deviation change rate, and the output variables are the displacement of the variable pump and the variable motor. Then the membership functions and control rules are established. The co-simulation interface is set up in Simulink, and the driving system of the vehicle is simulated. Through the analysis of simulation results, it proves that the fuzzy controller can make the sweeper have good acceleration features, make the driving process stepless, also make it have high comfort during driving.