水平井轮式牵引器推靠机构液压系统研究与仿真

Research and Simulation on Hydraulic System of Horizontal Well Wheel Tractor Push Mechanism

轮式牵引器驱动轮常被设计为近似齿轮的外形,但不合理的接触正压力加快驱动轮齿形压溃和磨损,降低驱动轮和套管的摩擦性能和越障能力,因此需要通过控制液压系统输出性能合理匹配驱动轮接触正压力。针对此问题建立了100~150 mm套管中液压缸活塞杆位置和驱动轮正压力之间的力学关系,利用AMEsim软件建立120 mm套管推靠机构的二维机械结构和液压系统仿真模型,联合Simulink建立液压缸输出位置的模糊PID控制,研究液压系统输出特性及驱动轮接触正压力和驱动臂、推靠臂的运动学性能。仿真结果表明:在120 mm套管中通过模糊PID控制的液压缸活塞杆输出位置,整个过程中液压缸活塞杆输出位置稳定时最大误差0.5 mm,接触正压力最大误差为5.24 N,驱动轮和套管壁接触稳定,推靠臂、驱动臂转速合理且不会产生过大冲击,验证了方法的可行性和可靠性,为后续轮式牵引器优化提供依据。

The driving wheel of wheeled tractor is usually designed to be similar to the shape of a gear, but the unreasonable positive contact pressure accelerates the shape crushing and wearing of the driving wheel teeth, reduces the friction performance and obstacle crossing ability of the driving wheel and casing. Therefore, it is necessary to match the positive contact pressure of the driving wheel reasonably by controlling the output performance of the hydraulic system. To solve this problem, the mechanical relationship between the piston rod position of hydraulic cylinder and the positive pressure of driving wheel in 100~150 mm casing was established, the simulation model of the two-dimensional mechanical structure and hydraulic system of the 120 mm casing pushing mechanism was established by using AMEsim, and the fuzzy PID control of the output position of hydraulic cylinder was established combining with Simulink. The output characteristics of the hydraulic system,the positive contact pressure of the driving wheel and the kinematic performance of the driving arm and the push-back arm were studied. The simulation results show that the output position of the piston rod of the hydraulic cylinder is controlled by fuzzy PID in the 120 mm casing, in the whole process, when the output position of the piston rod of the hydraulic cylinder is stable, the maximum error of the positive contact pressure is 5.24 N, the contact between the driving wheel and the casing wall is stable. The feasibility and reliability of the method are verified,which provides a basis for the subsequent optimization of wheeled tractor.