【作者】 马瑞；

【导师】 王同建；

【作者基本信息】 吉林大学 ， 机械硕士（专业学位）， 2024， 硕士

【摘要】 随着科技的不断进步,非道路车辆的智能化水平不断提升。传感器技术、数据分析和人工智能的应用为其带来了许多新的应用和改进。作为决定车辆工作效率与安全性的重要系统之一,非道路车辆的转向系统也在向智能化的方向发展。为了提高转向系统的使用性能,满足无人化的需求,全液压转向系统逐渐向电控液压转向系统转变,从而推动转向系统的智能化、精确化和环保化,并提高车辆的驾驶安全性和操作便利性。因此,针对转向系统的合理建构与优化升级研究对于提高非道路车辆转向操纵性能具有重要现实意义。论文选取铰接式非道路车辆转向系统作为研究对象,通过全液压转向系统与基于负载口独立控制技术的电控液压转向系统并联,设计一种能够满足精准控制和智能化要求的电液复合转向系统。这一研究为非道路车辆转向系统朝着智能化、无人化和绿色化方向的发展提供了新的思路和方法。论文设计了满足非道路车辆转向需求的电液复合转向系统,并对其工作原理进行了详细分析,为后续的设计与仿真奠定了理论基础;在AMESim与Simulink两个平台上建立了电液复合转向系统的仿真模型与控制模型,并进行了联合仿真,在虚拟环境中对系统的性能进行评估与优化;为保证系统的控制精度与稳定性,设计了PID和MPC控制算法,通过对其仿真结果的对比分析,探讨两种控制算法在转向动作控制方面的优缺点;在确保转向角度控制精度的基础上,设计负载口独立控制系统,实现对转向油缸两腔压力与流量的独立控制,从而提高驾驶员的舒适性以及车辆操纵的安全性;最后,搭建了实验台架,结合转向控制原理编写控制程序,验证仿真模型与控制算法的正确性。本文所提出的非道路车辆电液复合转向系统及其控制策略,能够显著提高非道路车辆转向系统的控制性能、作业效率和驾驶体验。该系统集成了全液压转向系统和电控转向系统的优点,为非道路车辆转向系统的研究提供了新的思路,同时对电控液压转向系统的应用与产业化推广具有实际意义,有助于推动非道路车辆转向系统技术的进步和发展。更多还原

【Abstract】 With the continuous advancement of technology,off-road vehicles are becoming increasingly intelligent.The application of sensor technology,data analytics,and artificial intelligence has introduced numerous new applications and enhancements.Among the crucial systems influencing vehicle efficiency and safety,the steering system of off-road vehicles is also evolving towards intelligence.To enhance steering system performance and cater to unmanned demands,the fully hydraulic steering system is gradually transitioning to an electronically controlled hydraulic steering system.This transition fosters intelligence,precision,and environmental consciousness within the steering system,thereby enhancing driving safety and operational convenience.Consequently,researching the rational construction and optimization of the steering system holds significant practical importance in improving the steering performance of off-road vehicles.This paper selects the articulated non-road vehicle steering system as the research subject and devises an electro-hydraulic composite steering system capable of meeting the demands of precise control and intelligence.This is achieved through the parallel connection of the full hydraulic steering system and the electronically controlled hydraulic steering system,utilizing load port independent control technology.This research introduces novel concepts and methodologies for steering system development in off-road vehicles,guiding them towards intelligence,unmanned operation,and environmental friendliness.The paper devises an electro-hydraulic compound steering system to address the steering requirements of off-road vehicles.It meticulously analyzes its operational principles,laying a theoretical groundwork for subsequent design and simulation endeavors.The simulation model and control model of the electro-hydraulic compound steering system are established on both AMESim and Simulink platforms,facilitating joint simulations to assess and refine system performance within a virtual environment.To ensure system control accuracy and stability,PID and MPC control algorithms are developed.A comparative analysis of simulation results explores the strengths and weaknesses of these two control algorithms in steering action control.Additionally,an independent control system for the load port is designed to enhance driver comfort and vehicle operational safety by enabling separate control of pressure and flow within the steering cylinder chambers.Subsequently,the electro-hydraulic composite steering system is constructed on the Simulink platform.An experimental rig is then assembled,and a control program is written,aligning with the steering control principle to validate the accuracy of the simulation model and control algorithm.The electro-hydraulic composite steering system and its control strategy proposed in this paper offer significant enhancements in control performance,operational efficiency,and driving experience for off-road vehicles.By integrating the strengths of both fully hydraulic and electronically controlled steering systems,this system introduces a novel approach to the research of off-road vehicle steering systems.Moreover,it holds practical significance for the application and industrialization promotion of electronically controlled hydraulic steering systems,thereby contributing to the advancement and development of off-road vehicle steering system technology.更多还原