基于主动转向和制动的混凝土搅拌车防侧翻控制研究

发布时间：2018-03-02 18:17

本文选题：混凝土搅拌运输车　切入点：防侧翻控制　出处：《东北大学》2014年硕士论文　论文类型：学位论文

【摘要】：近年来随着我国建筑业的飞速发展,其附属产业也随之兴起,混凝土搅拌运输车作为连接搅拌站和施工现场的“纽带”,当然也就随之兴起。然而,近来数据显示,混凝土搅拌运输车的交通事故数量一直在上升,因为侧翻而发生的事故在混凝土搅拌运输车事故中占最大比例。搅拌车具有质心高,轮距相对于车身高度显得过窄的特点,再加上搅拌车属于城区运输车辆,不可避免要转向避让行人、车辆,过岗等,这些都导致了搅拌车容易侧翻。由于搅拌车结构和机理的特殊性,其与普通汽车的侧翻机理有所不同,目前对搅拌车防侧翻的研究少之甚少,整车厂也只是根据经验对整车结构进行改进,所以进行搅拌车防侧翻控制研究具有很实际的应用价值。由于搅拌车的特殊用途致使其结构区别于普通重型车辆,其安装了用于搅拌混凝土的搅拌筒,在运输过程中搅拌筒会不停的转动来防止内部混凝土离析或凝结,本文研究了搅拌筒转动及车转弯对筒内混凝土质心的影响。以中国重汽某搅拌车作为研究对象,首先建立了搅拌车的二自由度和三自由度动力学模型。通过混凝土搅拌车三自由度simulink模型研究主动转向不同附加角对车辆姿态的影响,结果表明附加转角越大车辆的横向载荷转移率变得越小,稳定性越好。通过PID控制证明了主动转向单独作用对混凝土搅拌车防侧翻有很好的控制效果,但搅拌车偏离了司机的行驶意图。指出主动转向的同时加入制动可以达到既防侧翻又保持车辆行驶轨迹的目的,文中先是从理论上进行分析论证,然后再采用simulink模型进行仿真验证,结果表明主动转向和制动同时作用既可以防止车辆侧翻又可以使车辆按照驾驶员的意图行驶。在文中的最后采用PID参数模糊自整定控制,模拟了混凝土搅拌车多种工况的防侧翻控制,仿真结果表明PID参数模糊自整定控制与PID控制有更好地控制效果,进一步验证了主动转向和制动同时控制对混凝土搅拌车防侧翻有很好的控制效果,同时也可以说明本文所取数据的准确性和模型的正确性。
[Abstract]:In recent years, with the rapid development of the construction industry in China, its subsidiary industries have also risen, and the concrete mixing truck, as the "link" between the mixing station and the construction site, has certainly risen. However, recent data show that, The number of traffic accidents on concrete agitators has been increasing, and accidents caused by rollover account for the largest proportion of accidents in concrete agitators, which are characterized by high center of mass and narrow wheel spacing relative to the height of the body. In addition, mixers belong to urban transport vehicles, and they inevitably have to turn to avoid pedestrians, vehicles, overwork, etc. All of these have led to the easy rollover of mixers. Due to the particularity of the structure and mechanism of mixers, It is different from the common automobile rollover mechanism. At present, there is little research on the anti-rollover of the mixer, and the whole vehicle factory only improves the structure of the whole vehicle according to the experience. Therefore, the study of anti-roll control of mixer has practical application value. Because of its special purpose, the mixer is different from the ordinary heavy vehicle in structure, and it is equipped with a mixing cylinder used for mixing concrete. In order to prevent the internal concrete segregation or condensation, the mixing cylinder will rotate continuously during the transportation process. This paper studies the influence of the mixing cylinder rotation and the turning of the car on the concrete centroid in the barrel. A mixing car of China heavy Automobile is taken as the research object. Firstly, the dynamic models of two and three degrees of freedom of the mixer are established. The influence of different additional angles of active steering on the vehicle attitude is studied by using the three-degree-of-freedom simulink model of the concrete mixer. The results show that the greater the additional angle, the smaller the lateral load transfer rate and the better the stability. It is proved by PID control that the active steering alone has a good control effect on the anti-roll of concrete mixer. However, the mixer deviates from the driver's driving intention. It is pointed out that the active steering and the addition of braking can achieve the purpose of preventing rollover and keeping the track of the vehicle. Then the simulink model is used for simulation verification. The results show that both active steering and braking can prevent the vehicle from overturning and make the vehicle run according to the driver's intention. At the end of the paper, the fuzzy self-tuning control of PID parameters is adopted. The anti-rollover control of concrete mixer under various working conditions is simulated. The simulation results show that the fuzzy self-tuning control of PID parameters and the PID control have better control effect. It is further verified that the active steering and braking simultaneous control have a good control effect on the roll control of the concrete mixer. At the same time, the accuracy of the data obtained in this paper and the correctness of the model can be explained.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU642

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