【摘要】：推土機是基礎(chǔ)建設(shè)中主要應(yīng)用的工程機械之一,通過對國產(chǎn)推土機的不足和缺點的分析,建立了推土機的工作裝置自動控系統(tǒng),以降低操作員勞動強度,提高作業(yè)質(zhì)量和生產(chǎn)率。因此對推土機的工作裝置自動控系統(tǒng)研究主要集中在以下方面:1、以國產(chǎn)推土機中液力機械傳動推土機作為改造對象,通過分析得到傳統(tǒng)推土機在液壓系統(tǒng)中和工作過程中的不足和缺點,提出自動控制改造方案。確定了以微機控制單元(ECU)為控制核心,通過將原來的工作裝置的液壓系統(tǒng)中普通方向閥改造為電液比例方向閥,再在推土機的發(fā)動機,履帶,液壓缸等加裝傳感器,構(gòu)成一個帶有反饋的控制系統(tǒng)。通過比較三種常用控制信號的優(yōu)缺點,最終確定以發(fā)動機的轉(zhuǎn)速控制為主,滑轉(zhuǎn)率控制為輔的復(fù)合控制策略。同時對微機控制單元(ECU),傳感器的選擇做了探究。2、建立了發(fā)動機,液壓系統(tǒng),土壤,滑轉(zhuǎn)率的數(shù)學(xué)模型,進而建立整機模型。3、在MATLAB/Simulink中建立整機模型仿真框圖。設(shè)計二種工作場地作為檢驗推土機工作裝置自動控制系統(tǒng)性能好壞。通過仿真實驗表明,本次推土機工作裝置自動控制方案達到了預(yù)想結(jié)果,驗證工作裝置自動控制系統(tǒng)的穩(wěn)定性和可行性。同時也為其他工程機械的自動化研究,提供一些新思路。
[Abstract]:Bulldozer is one of the main construction machinery used in basic construction. By analyzing the shortcomings and shortcomings of domestic bulldozer, the automatic control system of bulldozer's working device is established to reduce the labor intensity of operator. Improve work quality and productivity. Therefore, the research on the automatic control system of the working device of the bulldozer is mainly focused on the following aspects: 1. The hydraulic mechanical drive bulldozer in the domestic bulldozer is taken as the reform object. By analyzing the shortcomings and shortcomings of the traditional bulldozer in the hydraulic system and working process, the automatic control reform scheme is put forward. Taking the microcomputer control unit (ECU) as the control core, the conventional directional valve in the hydraulic system of the original working device is transformed into the electro-hydraulic proportional directional valve, and sensors are added to the engine, track and hydraulic cylinder of the bulldozer. Form a control system with feedback. By comparing the advantages and disadvantages of the three kinds of commonly used control signals, the compound control strategy, which is mainly controlled by engine speed and supplemented by slip rate control, is finally determined. At the same time, the selection of (ECU), sensor in microcomputer control unit is discussed. 2. The mathematical model of engine, hydraulic system, soil and slip rate is established, and then the whole machine model is established. 3. The simulation block diagram of the whole machine model is established in MATLAB/Simulink. Two kinds of working sites are designed to test the performance of bulldozer automatic control system. The simulation results show that the automatic control scheme of the bulldozer has achieved the expected results and verified the stability and feasibility of the automatic control system of the working device. At the same time, it also provides some new ideas for the automation research of other construction machinery.
【學(xué)位授予單位】：長安大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TU623.5;TP273

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