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研究了铰接式四轮驱动装载机防滑控制方法,通过路面状态识别方法和控制算法,利用限滑差速器实现驱动防滑。以车轮角加速度作为路面状态识别系统的判别参数,在车辆行驶过程中对各车轮的附着路面进行实时识别,将识别出的当量路面下的最优滑转率作为驱动防滑系统的控制目标,通过模糊控制算法控制液压限滑差速器内液压油缸压力,实现装载机的驱动防滑控制。Matlab/Simulink仿真结果表明:该路面状态识别系统能够快速、准确地完成状态识别,同时对各车轮滑转状态进行实时判断并实现驱动防滑控制,从而避免车轮过度滑转,保证车辆获得最佳动力性能。
The anti-skidding control method of articulated four-wheel drive loaders is studied. The method of road surface state identification and control algorithm is used to realize slip-resistant driving by using the limited slip differential. Taking the wheel angular acceleration as the discrimination parameter of the road surface recognition system, the attached road surface of each wheel is identified in real time in the course of vehicle driving. The optimal slip rate under the equivalent road surface is taken as the control target of the anti-skid system The fuzzy control algorithm controls the pressure of the hydraulic cylinder in the hydraulic limited slip differential to realize the drive slip control of the loader. The simulation results of Matlab / Simulink show that the road surface condition recognition system can quickly and accurately complete the state recognition, at the same time, judge the wheel slip state in real time and realize the driving anti-skid control so as to avoid excessive wheel slip and ensure the best power of the vehicle performance.