大吨位运梁车自适应转向模型研究

Research on adaptive steering model of large tonnage beam carrier

针对桥梁建设过程中运梁车隧道内姿态控制的需求,设计了一种运梁车自适应转向模型。分析了运梁车隧道通行中出现的几种姿态,给出了运梁车隧道内纠偏轨迹的一种求解方法,用MATLAB软件仿真得到了不同转向模式下运梁车各点姿态调整的轨迹。最后根据前进速度和角速度分析了自适应转向模型与传统转向模型的优劣,仿真及实践表明,运梁车自适应转向模型可实现运梁车隧道内姿态平稳快速控制的目的,提高了运梁车隧道内运输预制梁的通行效率和安全性。

Aiming at the demand of attitude control in the tunnel of beam carrier in the process of bridge construction, an adaptive steering model of beam carrier was designed.Several attitudes of the beam carrier in the tunnel were analyzed, a solution method of the deviation correction trajectory in the beam carrier tunnel was given, and the attitude adjustment trajectory of each point of the beam carrier under different steering model by MATLAB software simulation was obtained.Finally, the advantages and disadvantages of the adaptive steering model and the traditional steering model were analyzed according to the forward velocity and angular velocity.The simulation and practice show that the adaptive steering model of the beam carrier can realize the purpose of stable and rapid attitude control in the beam carrier tunnel, and improve the efficiency and safety of the transportation of precast beams in the beam carrier tunnel.