两车纵向并车联合运输同步控制技术研究

Study on Synchronous Control Technology for Longitudinal Combined Transportation of Two Vehicles

针对两台液压载重车联合运输大型轮船的同步控制进行研究,根据运载装备的特点,采用两车纵向并车的运输方式,行走过程中两车之间必须保证同步行走,否则可能会发生轮船滚落或载重车结构损坏的重大事故。针对运输车速度的稳定控制,求解出行驶驱动系统泵控马达的系统传递函数,并仿真验证了控制器采用PID控制算法可以提高运输车速度的稳定性。根据运输的特点,采用“主从式”控制策略,提出采用驱动压力和行驶速度的双闭环控制,设计出基于CAN总线的控制系统,最后进行了实车试验,根据现场试验采集的数据,验证了此控制器能够使两车保证很好的同步效果。

A study was conducted on the synchronous control of two hydraulic truck combined transport large ships.According to the characteristics of carrying heavy objects,the longitudinal combined transportation method was adopted.During the transportation process,the two vehicles must ensure synchronous running,otherwise major accidents such as ship rolling or structural damage to the truck may occur.For the stable speed control of the vehicle driving,a system transfer function for the pump controlled motor of the driving system was solved,and it is verified that adding PID control algorithm can improve the speed stability of the vehicle.According to the characteristics of transportation,a"master-slave"control strategy was adopted,and double closed-loop control using driving pressure and driving speed is proposed,the control system based on CAN bus is designed.Finally,actual vehicle tests were conducted,and based on the data collected from on-site tests,it was verified that this controller can ensure good synchronization between the two vehicles.