滑移装载机行走系统研究
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摘要
随着各国经济建设的发展，各类基础设施建设的不断扩大，极大促进了工程机械行业的发展，多功能小型工程机械作为工程机械的重要分支，发展前景尤为可观。滑移装载机作为多功能小型工程机械的佼佼者之一，越来越受到市场的青睐。然而，我国滑移装载机开发设计起步较晚，核心技术仍需从国外引进，极大地制约了滑移装载机产业化进程。
行走系统作为滑移装载机的核心系统之一，其性能的优劣直接影响滑移装载机整体性能。随着内燃机技术，液压技术以及计算机控制技术的飞速发展，滑移装载机行走系统的技术水平发展迅速。然而，静压驱动的行走系统仍为整机系统的薄弱环节，相关理论尚不完善，缺乏系统整体性研究。为了提高滑移装载机整机性能，增强其市场竞争力，开展滑移装载机行走系统的研究具有重要的理论和实际意义。
本文结合校企合作项目——“装载机液压系统及传动系统动态仿真分析及对比测试研究”和“装载机液压、传动系统动态优化仿真与实验研究”，以某型滑移装载机为载体，将发动机、液压驱动系统、车轮-地面负载作为一个整体，采用理论分析、动态仿真和实验研究的方法，对行走系统进行研究。建立了发动机-泵理论模型、静压传动系统数学模型，以及基于贝克地面力学理论的行驶、滑移转向轮胎-地面负载模型，并分别就系统匹配，系统重要参数对液压系统性能，车轮负载进行了定性分析。基于AMESim和Virtual Lab Motion两种仿真软件对系统重要组成元件性能参数、及整体系统开展动态仿真研究，为行走系统的动态优化设计提供了新方法。设计了滑移装载机行走系统性能测试方案，分别对直线行驶、滑移转向、联合铲装、系统性能进行实验测试，实验结果真实的反映了实验样机的性能，同时验证了前面相关理论研究、仿真分析的正确性。最后根据实验过程中发动机的熄火现象，研制了发动机转速反馈的功率控制系统，并通过仿真模型验证了该控制系统的正确性。本论文的研究成果对滑移装载机行走系统的动态仿真设计、优化分析、系统性能评估等具有一定的参考价值，具有重要的理论意义和实用价值。
本论文主要研究内容如下：
第1章，阐述了本文的研究目的及意义；概述了滑移装载机的国内外发展及应用现状；概述了滑移装载机行走系统发展现状及研究现状；确定了本文的主要研究内容。
第2章，以某型滑移装载机为研究对象，详细分析了行走系统组成及其工作原理，从完整系统的角度，建立了滑移装载机行走系统（发动机、液压驱动系统、车轮-地面负载）的数学模型。并对发动机-变量泵的匹配关系、变量泵控制定量马达的系统性能、闭式液压系统控制特性、基于贝克理论的车轮-地面相互作用负载特性进行了分析研究，找出了影响系统性能的重要参数。
第3章，介绍了滑移转向原理，并对滑移装载机行走系统进行相关假设，根据履带车轮滑移转向原理，提出了轮式滑移车辆的转向传动比和转向比概念，基于贝克地面力学理论，建立了滑移转向过程的运动学、动力学数学模型，定性的分析了转向过程中的两侧驱动马达转向力及转向功率的关系。仿真和实验结果表明：相对于直线行驶，转向阻力矩远大于滚动阻力矩，且随着转向半径的减小转向阻力系数增加。
第4章，根据行走系统分析，利用AMESim软件和Virtual Lab Motion多体动力学软件分别建立了发动机模型、变量泵HCD半物理化模型、液压驱动系统模型、行走机构与地面的相互作用的三维动力学模型，并对发动机、变量泵等主要元件性能进行仿真分析，同时，根据行走系统工况的不同对整个行走系统进行了联合仿真研究。仿真结果表明：模型建立准确可信，通过合理匹配阀芯控制信号与阀口形状的组合，可以显著提高系统的性能。元件模型被模块化封装后，已被企业采纳并被成功运用于滑移装载机设计开发及故障分析。
第5章，制定了滑移装载机行走系统性能测试方案，分别对直线行驶、滑移转向、联合铲装、系统性能进行实验测试分析，分析结果验证了相关理论推导及模型仿真的正确性；
第6章，根据试验样车存在的发动机熄火现象，开发设计了滑移装载机发动机速度反馈的功率控制系统。仿真结果表明：该系统可以最大限度的利用发动机对应油门位置的功率，提高了功率利用率，同时可以有效的防止熄火现象发生。
第7章，对本论文的研究工作和成果进行总结，并对下一阶段工作进行了展望。
Within quite a few years, the national economic construction and the expansion of allkinds of infrastructure construction have accelerated the development of Constructionmachinery industry. As a rather important branch of Construction machinery industry,Multi-function mini construction machinery seems to have an impressive prospect.Skid-steer Loader is becoming more popular as one of the best kind of Multi-function miniconstruction machinery. However, the development and design of Skid-steer Loader in Chinastarted quite lately, and the core technology is needed to introduce from abroad. These twofactors limit the industrialization process of Skid-steer Loader greatly.
As one core system of the Skid-steer Loader, the performance of travel system candirectly affect its overall performance. The level of travel system develops rapidly with thepromotion of the internal combustion engine technology, hydraulic technology and computercontrol technology. But the hydrostatic drive travel system still be the weak links of thewhole system. In addition, the relative theory is not perfect, and there has no enoughsystematic and integrated research. In order to improve the overall performance of theSkid-steer Loader, enhance its Market competitiveness, t he research in Skid-steer Loaderstravel system has important theoretical and practical significance.
Referring to the School-enterprise cooperation project “The dynamic simulationanalysis and coMParison test of the loader hydraulic system and drive system “and”Thedynamic optimization simulation and experimental study of the loader hydraulic drivesystem”, depending on a certain type of Skid-steer Loader, combining engine, hydraulicdrive system, the wheel-ground load as a whole, using the methods of theoretical analysis,dynamic simulation and experimental study, this essay takes research for the travel system.There are many qualitative analysis on wheel load and hydraulic system performance inrespect of the system matches and the important parameters of the system, depending on thedevelopment of Engine-pump theoretical model, hydrostatic transmission mathematicalmodel, and Baker ground-based mechanical theory of traveling, slip steering tire-ground load model. The dynamic simulation research of the functional parameters of the keycomponents and the system are based on the AMESim and Virtual Lab Motion, and attaineda new method for dynamic optimization design. The travel system performance testingprogram is designed for testing straight-line driving, skid steering, joint shovel loading andsystem performance respectively. Experimental results reflect the performance of theexperimental prototype and verify the correctness of previous theoretical research andsimulation analysis. Finally, according to the engine flameout phenomenon in theexperimental procedure, the engine speed feedback power control system is developed, andthe correctness of this system is verified through simulation models. This dissertation hascertain reference value for the dynamic simulation design, optimizing analysis and systemperformance evaluation of the travel system of Skid-steer Loader. It also has importanttheoretical significance and practical value.
The research contents are mainly as follows:
Chapter1. This chapter is mainly about the purpose and significance of this paper; Itoverviews the domestic and overseas development and application status of Skid-steerLoader; it summarizes the development and research status of Skid-steer Loader travelsystem; the main contents of this paper is determined in this chapter.
Chapter2. In this chapter, a detailed analysis of the composition and the operatingprinciple of the travel system is done according to a certain type of Skid-steer Loader. Themathematical models of Skid-steer Loader travel system (engine, hydraulic drive system,wheel-ground loader)are established from the point of view of the complete system.Moreover, in this chapter, the matching relationships of engine-variable displacement pump,the system performance of variable pump control quantitative motor, the control features ofthe close hydraulic system and wheel-ground interaction load characteristics based onBaker`s theory are analyzed and researched. Important parameters which affect the systemperformance are found here.
Chapter3. It introduces the principle of skid steering and puts forward assumptions ofSkid-steer Loader travel system. Besides, according to the principle of skid steering, it raises the concept of transmission ratio and steering ratio of wheel slip vehicles, carrys out thequalitative analysis of the relationship between the steering force and steering power of twosides by establishing kinematics, dynamics mathematical models in the skid-steering process.All this is based on Baker ground-based mechanics theory. The simulation and experimentalresults show: relative to the straight-ahead driving, steering resistance moment is muchlarger than the rolling resistance torque and steering drag coefficient increases withdecreasing turning radius.
Chapter4. In this chapter, according to the analysis of travel system, engine model,Half a physical change HCD model of variable displacement pump, Hydraulic drive systemmodel, Three dimensional dynamic model of wheel-ground interaction are built by usingAMESim Software and Virtual Lab Motion Multibody Dynamics Software. Then, simulationanalysis of engine and variable pump are carried out, as well as the joint simulation of thewhole travel system according to various travel system working conditions. Simulationresults show that: the model is built accurately and credibly, and the performance of thesystem is promoted greatly through matching spool control signal with the shape of the valveport combination reasonably. Component models are received and used in Skid-steer Loaderdesign and failure analysis after being packed modularly.
Chapter5. In this chapter, Skid-steer Loader travel system performance testingprograms are developed. Depending on this, experimental test The experiment test andanalysis on straight-line driving, skid steering, joint shovel loading and system performanceare done. The analysis results verify the correctness of the theoretical model simulation.
Chapter6. In this chapter, according to the engine flameout phenomenon of the testsample car, the speed feedback power control system of the Skid-steer Loader engine isdeveloped and designed. Simulation results show that: the system can maximize the use ofthe engine power corresponding to the throttle position, improve the power efficiency, andcan effectively prevent flameout occurring.
Chapter7. The work and achievements of this thesis are summarized, and prospect thenext phase of work.
行走系统作为滑移装载机的核心系统之一，其性能的优劣直接影响滑移装载机整体性能。随着内燃机技术，液压技术以及计算机控制技术的飞速发展，滑移装载机行走系统的技术水平发展迅速。然而，静压驱动的行走系统仍为整机系统的薄弱环节，相关理论尚不完善，缺乏系统整体性研究。为了提高滑移装载机整机性能，增强其市场竞争力，开展滑移装载机行走系统的研究具有重要的理论和实际意义。
本文结合校企合作项目——“装载机液压系统及传动系统动态仿真分析及对比测试研究”和“装载机液压、传动系统动态优化仿真与实验研究”，以某型滑移装载机为载体，将发动机、液压驱动系统、车轮-地面负载作为一个整体，采用理论分析、动态仿真和实验研究的方法，对行走系统进行研究。建立了发动机-泵理论模型、静压传动系统数学模型，以及基于贝克地面力学理论的行驶、滑移转向轮胎-地面负载模型，并分别就系统匹配，系统重要参数对液压系统性能，车轮负载进行了定性分析。基于AMESim和Virtual Lab Motion两种仿真软件对系统重要组成元件性能参数、及整体系统开展动态仿真研究，为行走系统的动态优化设计提供了新方法。设计了滑移装载机行走系统性能测试方案，分别对直线行驶、滑移转向、联合铲装、系统性能进行实验测试，实验结果真实的反映了实验样机的性能，同时验证了前面相关理论研究、仿真分析的正确性。最后根据实验过程中发动机的熄火现象，研制了发动机转速反馈的功率控制系统，并通过仿真模型验证了该控制系统的正确性。本论文的研究成果对滑移装载机行走系统的动态仿真设计、优化分析、系统性能评估等具有一定的参考价值，具有重要的理论意义和实用价值。
本论文主要研究内容如下：
第1章，阐述了本文的研究目的及意义；概述了滑移装载机的国内外发展及应用现状；概述了滑移装载机行走系统发展现状及研究现状；确定了本文的主要研究内容。
第2章，以某型滑移装载机为研究对象，详细分析了行走系统组成及其工作原理，从完整系统的角度，建立了滑移装载机行走系统（发动机、液压驱动系统、车轮-地面负载）的数学模型。并对发动机-变量泵的匹配关系、变量泵控制定量马达的系统性能、闭式液压系统控制特性、基于贝克理论的车轮-地面相互作用负载特性进行了分析研究，找出了影响系统性能的重要参数。
第3章，介绍了滑移转向原理，并对滑移装载机行走系统进行相关假设，根据履带车轮滑移转向原理，提出了轮式滑移车辆的转向传动比和转向比概念，基于贝克地面力学理论，建立了滑移转向过程的运动学、动力学数学模型，定性的分析了转向过程中的两侧驱动马达转向力及转向功率的关系。仿真和实验结果表明：相对于直线行驶，转向阻力矩远大于滚动阻力矩，且随着转向半径的减小转向阻力系数增加。
第4章，根据行走系统分析，利用AMESim软件和Virtual Lab Motion多体动力学软件分别建立了发动机模型、变量泵HCD半物理化模型、液压驱动系统模型、行走机构与地面的相互作用的三维动力学模型，并对发动机、变量泵等主要元件性能进行仿真分析，同时，根据行走系统工况的不同对整个行走系统进行了联合仿真研究。仿真结果表明：模型建立准确可信，通过合理匹配阀芯控制信号与阀口形状的组合，可以显著提高系统的性能。元件模型被模块化封装后，已被企业采纳并被成功运用于滑移装载机设计开发及故障分析。
第5章，制定了滑移装载机行走系统性能测试方案，分别对直线行驶、滑移转向、联合铲装、系统性能进行实验测试分析，分析结果验证了相关理论推导及模型仿真的正确性；
第6章，根据试验样车存在的发动机熄火现象，开发设计了滑移装载机发动机速度反馈的功率控制系统。仿真结果表明：该系统可以最大限度的利用发动机对应油门位置的功率，提高了功率利用率，同时可以有效的防止熄火现象发生。
第7章，对本论文的研究工作和成果进行总结，并对下一阶段工作进行了展望。
Within quite a few years, the national economic construction and the expansion of allkinds of infrastructure construction have accelerated the development of Constructionmachinery industry. As a rather important branch of Construction machinery industry,Multi-function mini construction machinery seems to have an impressive prospect.Skid-steer Loader is becoming more popular as one of the best kind of Multi-function miniconstruction machinery. However, the development and design of Skid-steer Loader in Chinastarted quite lately, and the core technology is needed to introduce from abroad. These twofactors limit the industrialization process of Skid-steer Loader greatly.
As one core system of the Skid-steer Loader, the performance of travel system candirectly affect its overall performance. The level of travel system develops rapidly with thepromotion of the internal combustion engine technology, hydraulic technology and computercontrol technology. But the hydrostatic drive travel system still be the weak links of thewhole system. In addition, the relative theory is not perfect, and there has no enoughsystematic and integrated research. In order to improve the overall performance of theSkid-steer Loader, enhance its Market competitiveness, t he research in Skid-steer Loaderstravel system has important theoretical and practical significance.
Referring to the School-enterprise cooperation project “The dynamic simulationanalysis and coMParison test of the loader hydraulic system and drive system “and”Thedynamic optimization simulation and experimental study of the loader hydraulic drivesystem”, depending on a certain type of Skid-steer Loader, combining engine, hydraulicdrive system, the wheel-ground load as a whole, using the methods of theoretical analysis,dynamic simulation and experimental study, this essay takes research for the travel system.There are many qualitative analysis on wheel load and hydraulic system performance inrespect of the system matches and the important parameters of the system, depending on thedevelopment of Engine-pump theoretical model, hydrostatic transmission mathematicalmodel, and Baker ground-based mechanical theory of traveling, slip steering tire-ground load model. The dynamic simulation research of the functional parameters of the keycomponents and the system are based on the AMESim and Virtual Lab Motion, and attaineda new method for dynamic optimization design. The travel system performance testingprogram is designed for testing straight-line driving, skid steering, joint shovel loading andsystem performance respectively. Experimental results reflect the performance of theexperimental prototype and verify the correctness of previous theoretical research andsimulation analysis. Finally, according to the engine flameout phenomenon in theexperimental procedure, the engine speed feedback power control system is developed, andthe correctness of this system is verified through simulation models. This dissertation hascertain reference value for the dynamic simulation design, optimizing analysis and systemperformance evaluation of the travel system of Skid-steer Loader. It also has importanttheoretical significance and practical value.
The research contents are mainly as follows:
Chapter1. This chapter is mainly about the purpose and significance of this paper; Itoverviews the domestic and overseas development and application status of Skid-steerLoader; it summarizes the development and research status of Skid-steer Loader travelsystem; the main contents of this paper is determined in this chapter.
Chapter2. In this chapter, a detailed analysis of the composition and the operatingprinciple of the travel system is done according to a certain type of Skid-steer Loader. Themathematical models of Skid-steer Loader travel system (engine, hydraulic drive system,wheel-ground loader)are established from the point of view of the complete system.Moreover, in this chapter, the matching relationships of engine-variable displacement pump,the system performance of variable pump control quantitative motor, the control features ofthe close hydraulic system and wheel-ground interaction load characteristics based onBaker`s theory are analyzed and researched. Important parameters which affect the systemperformance are found here.
Chapter3. It introduces the principle of skid steering and puts forward assumptions ofSkid-steer Loader travel system. Besides, according to the principle of skid steering, it raises the concept of transmission ratio and steering ratio of wheel slip vehicles, carrys out thequalitative analysis of the relationship between the steering force and steering power of twosides by establishing kinematics, dynamics mathematical models in the skid-steering process.All this is based on Baker ground-based mechanics theory. The simulation and experimentalresults show: relative to the straight-ahead driving, steering resistance moment is muchlarger than the rolling resistance torque and steering drag coefficient increases withdecreasing turning radius.
Chapter4. In this chapter, according to the analysis of travel system, engine model,Half a physical change HCD model of variable displacement pump, Hydraulic drive systemmodel, Three dimensional dynamic model of wheel-ground interaction are built by usingAMESim Software and Virtual Lab Motion Multibody Dynamics Software. Then, simulationanalysis of engine and variable pump are carried out, as well as the joint simulation of thewhole travel system according to various travel system working conditions. Simulationresults show that: the model is built accurately and credibly, and the performance of thesystem is promoted greatly through matching spool control signal with the shape of the valveport combination reasonably. Component models are received and used in Skid-steer Loaderdesign and failure analysis after being packed modularly.
Chapter5. In this chapter, Skid-steer Loader travel system performance testingprograms are developed. Depending on this, experimental test The experiment test andanalysis on straight-line driving, skid steering, joint shovel loading and system performanceare done. The analysis results verify the correctness of the theoretical model simulation.
Chapter6. In this chapter, according to the engine flameout phenomenon of the testsample car, the speed feedback power control system of the Skid-steer Loader engine isdeveloped and designed. Simulation results show that: the system can maximize the use ofthe engine power corresponding to the throttle position, improve the power efficiency, andcan effectively prevent flameout occurring.
Chapter7. The work and achievements of this thesis are summarized, and prospect thenext phase of work.
引文
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