基于MATLAB的越野叉车举升装置位置控制系统建模与仿真分析

Modeling and Simulation Analysis of Position Control System for Off-road Forklift Lifting Device Based on MATLAB

越野叉车在工作过程中驾驶员既要克服恶劣的环境又要完成高难度的举升操作,这对越野叉车的控制系统性能是一个极大考验。为了提高越野叉车工作过程的响应速度、平稳性、可靠性和抗污染性能,将电液比例换向阀应用于越野叉车举升装置位置控制系统。通过改变比例放大器的增益、举升液压缸的固有频率和阻尼比的参数以及举升装置的负载力,运用MATLAB仿真平台对举升装置控制系统中不同参数下的数学模型进行仿真分析,得出不同参数对系统动态特性的影响规律。结果表明:比例放大器的增益、举升液压缸的固有频率和阻尼比会影响系统的响应速度、系统精度和相对稳定性;随着举升装置负载力的变化会影响系统的响应时间和稳定性,从而为越野叉车举升装置控制系统的优化设计和应用提供依据。

In the course of work,the driver has to overcome the harsh environment and complete the difficult lifting operation,which is a great test for the control system performance of off-road forklift.In order to improve the response speed,smoothness,reliability and anti-pollution performance of off-road forklift work process,the electric fluid ratio replacement valve was applied to the position control system of off-road forklift lifting device.By changing the gain of the proportional amplifier,the parameters of the natural frequency and damping ratio of the lift hydraulic cylinder,and the load force of the lifting device,the mathematical model of different parameters in the lifting device control system was simulated by the MATLAB simulation platform.The influence law of the different parameters on the system dynamic characteristics was obtained.Results show that the gain of the proportional amplifier,the natural frequency and damping ratio of the lift hydraulic cylinder will affect the response speed,system accuracy and relative stability of the system,and the response time and stability of the system will be affected by the change of the load force of the lifting device.This provides the basis for the optimal design and application of off-road forklift lifting device control system.