履带式电驱动推土机直驶稳定性研究

Research on Straight-line Running Stability of Tracked Electric Bulldozer

为了解决电驱动推土机直驶跑偏问题,建立了履带式电驱动推土机仿真模型,利用仿真模型对推土机直驶稳定性影响因素进行了分析,分析结果表明,两侧驱动电机特性差异、两侧行动装置差异及两侧负载差异都会导致推土机直驶跑偏,且差异大小与跑偏量呈正相关。将推土机横摆角速度作为直驶稳定性控制的反馈参数,设计了基于模糊PID的电驱动推土机直驶稳定性控制策略。对有/无直驶稳定性控制的两种情况进行了对比仿真分析,结果表明,推土机横摆角速度可以控制在0 rad/s左右,验证了直驶稳定性控制策略的可行性。

In order to solve the problem of straight-line running deviation of electric bulldozer,the simulation model of tracked electric bulldozer was established,and the influence factors of straight-line running stability were analyzed by using the model.According to the analysis results,the difference of response characteristics between two motors,the difference of moving devices on both sides or the difference of load on both sides can cause the deviation of bulldozer,and the difference is positively correlated with deviation.The control strategy based on fuzzy PID was designed,and the yaw angular velocity of bulldozer was chosen as the feedback parameter of straight-line stability control.A comparative simulation analysis of two cases with or without straight-line running stability control was carried out,and the simulation results showed that the yaw angular velocity of bulldozer can be controlled at 0 rad/s,which verifies the feasibility of the strategy.