TLK21型高空作业车电液控制系统研究
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摘要
本文针对国内高空作业车的生产技术水平落后于国外的现状,在对国内外高空作业车的关键技术及发展趋势认真分析和对比的基础上,结合客户的实际需求,消化吸收国外先进技术,对TLK21型高空作业车的液压驱动系统、调平系统和微电控制系统展开设计研究。
本文首先在分析比较国外同类型的产品的基础上,设计了TLK21型高空作业车主要执行装置和机构的液压驱动系统,其中包括转向装置、回转装置、伸缩臂变幅装置等等。由于系统要求的控制量较多,而且多个控制量要求采用电液比例控制,因此系统采用了负载敏感式比例多路阀对主要执行元件进行控制。然后针对该车的行走液压驱动系统展开深入研究,因为它是该车需要解决的关键技术之一,直接影响到车辆的机动性能。接下来采用MATLAB仿真和机械最优化设计的方法对该车的作业斗调平机构进行设计,通过误差分析证明得到的设计结果是最优的。最后,将CAN总线技术引入到该车微电控制系统中来,设计了该车微电控制系统的硬件网络,并完成了电液控制程序的编写。
目前,所设计的全液压驱动自行式高空作业车已经安装、调试完毕,并已交付用户使用。该车在实际生产中达到了预期目标,提高了生产效率,取得了一定的经济效益。
Aiming at condition that the internal technical level of aerial work platform is lower than the external one, and based on analysis and comparison of the key technology and the developing tendency of the external aerial work platform, this paper designed hydraulic system, horizontal adjustment system and electric control system of TLC21 type of aerial work platform according to customer’s acquirement and external advance technology.
Firstly, based on analysis and comparison of external alike productions this paper detailedly introduce the design of main apparatus and hydraulic drive system including of steering apparatus, turning apparatus, telescopic arm apparatus etc. Because there are many apparatus that must be controlled and some of apparatus need electro-hydraulic proportional control, load-sensing proportional sandwich valves are applied to control main apparatus in this system. And then research of driving hydraulic system is carried out, because this is a key technology that must be solved. Afterward, Horizontal adjustment apparatus is designed with MATLAB simulation and mechanical optimization design methods. Finally, CAN-BUS technology is applied to electric control system, hardware network of electric control is designed and programs of electro-hydraulic control are finished.
At present, the entire hydraulic drive engineering aerial work platforms have been provided to customer after assembled and debugged by Tonglian Company. The vehicles have achieved the anticipated goals, improved the producing efficiency and obtained the considerable economic profit.
本文首先在分析比较国外同类型的产品的基础上,设计了TLK21型高空作业车主要执行装置和机构的液压驱动系统,其中包括转向装置、回转装置、伸缩臂变幅装置等等。由于系统要求的控制量较多,而且多个控制量要求采用电液比例控制,因此系统采用了负载敏感式比例多路阀对主要执行元件进行控制。然后针对该车的行走液压驱动系统展开深入研究,因为它是该车需要解决的关键技术之一,直接影响到车辆的机动性能。接下来采用MATLAB仿真和机械最优化设计的方法对该车的作业斗调平机构进行设计,通过误差分析证明得到的设计结果是最优的。最后,将CAN总线技术引入到该车微电控制系统中来,设计了该车微电控制系统的硬件网络,并完成了电液控制程序的编写。
目前,所设计的全液压驱动自行式高空作业车已经安装、调试完毕,并已交付用户使用。该车在实际生产中达到了预期目标,提高了生产效率,取得了一定的经济效益。
Aiming at condition that the internal technical level of aerial work platform is lower than the external one, and based on analysis and comparison of the key technology and the developing tendency of the external aerial work platform, this paper designed hydraulic system, horizontal adjustment system and electric control system of TLC21 type of aerial work platform according to customer’s acquirement and external advance technology.
Firstly, based on analysis and comparison of external alike productions this paper detailedly introduce the design of main apparatus and hydraulic drive system including of steering apparatus, turning apparatus, telescopic arm apparatus etc. Because there are many apparatus that must be controlled and some of apparatus need electro-hydraulic proportional control, load-sensing proportional sandwich valves are applied to control main apparatus in this system. And then research of driving hydraulic system is carried out, because this is a key technology that must be solved. Afterward, Horizontal adjustment apparatus is designed with MATLAB simulation and mechanical optimization design methods. Finally, CAN-BUS technology is applied to electric control system, hardware network of electric control is designed and programs of electro-hydraulic control are finished.
At present, the entire hydraulic drive engineering aerial work platforms have been provided to customer after assembled and debugged by Tonglian Company. The vehicles have achieved the anticipated goals, improved the producing efficiency and obtained the considerable economic profit.
引文
1 田丽敏,郭维斌.我国高空作业车的生产与发展.工程机械,2003(2):20-22
2 王宗君.高空作业机械发展的宏观设想.建筑机械,1997(11):28-30
3 Smith Anne. Things looking up for aerial work platforms. Diesel Progress North American Edition, 2005,71(1):12-14
4 李卫国,黄俊君.新型高空作业平台的开发和应用.建筑机械化,2003(11):34-36
5 Yengst Charles R. Aerial work platforms no longer a bubble ready to burst, Diesel Progress North American Edition, 2002,68(10):4-6
6 章崇任.日本高空作业车的新进展.建筑机械化,2002(3):53-55
7 Schimaneck F, Merrifield D K. Aerial Work Platforms: Safety, Liability & The Rental Center. Professional Safety, 1998,73(1):25-28
8 陈继军.我国高空作业车的生产与发展.城市车辆,1995(1):40-42
9 丁中立.21 世纪高空作业车展望.建设机械技术管理,1996(5):38-39
10 吴胜缔,魏东琦.液压高空作业设备中有关安全的功能设计.江苏工业学院学报,2003,15(2):46-49
11 Lorenz Ralph D. Navigation of aerial platforms on Titan, 2002(1121):563-573
12 刘金龙,周祥生,顾玉山.浅谈高空作业平台使用和维修.中国修船,1995(3):38-39
13 沈永红,耿艳杰.高空作业车水平支腿油缸渗油原因分析.建筑机械,2003(3):50-51
14 Jodeh Nidal M, Blue Paul A, Waldron Athon A. Development of small unmanned aerial vehicle research platform: Modeling and simulating with flight test validation. Collection of Technical Papers-AIAA Modeling and Simulation Technologies Conference, 2006:369-391
15 朱世强,林建亚.高空作业车双臂协调控制技术的研究.工程机械,1995(3):17-19
16 黄德中.高空作业车电液比例变幅液压系统.建筑机械,1994(10):29-30
17 刘涛,罗念宁,陈娟,等.高空作业车辆升降机构液压系统改进设计.液压与气动,2005(9):12-14
18 屈福政,滕儒民.直臂式高空作业车动力学分析.机械设计与制造,2002(4):75-77
19 唐传平,陈继军.解决高空作业车低温作业问题的措施.专用汽车,2003(1):28-29
20 McNeely Mark. Hydrostatic aerial work platform feature gasoline, diesel engine options. Diesel Progress Engines & Drives, 1995,61(3):8-11
21 姚怀新,陈波编著.工程机械底盘理论.北京:人民交通出版社,2001:94-138
22 马永辉,徐宝富,刘绍华.工程机械液压系统设计计算.北京:机械工业出版社,1985: 76-207
23 乔维高.直升式高空作业车的特点与设计.专用汽车,1999(2):19-21
24 Spadaro John F, Dixon Dorene I, Skias Nicole R, Bumgardner Marvin. Multimodal optical sensor suite for unmanned aerial vehicle platforms. Collection of Technical Papers-InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration, 2005(4):2046-2057
25 涂桥安,王保平,王兆伍.移动式高空作业平台的设计研究.机械设计与制造工程,2001(5):16-18
26 江浩,荣学文,樊炳辉.一种智能高空作业车的设计.煤矿机械,2003(3):1-3
27 凌学俭.高空作业机械液压系统组成功能特点及可靠性分析.工程机械,1993(1):6-9
28 唐传平.高空作业车液压系统污染途径及控制.专用汽车,2005(1):15-17
29 Peters William C. Replacing an aerial unit: Platform or straight stick. Fire Engineering 1996,149(10):89-92
30 凌学俭.高空作业车液压系统分析. 建筑机械,1997(4):24-26
31 Pike G S. Application of high-performance steel in mobile hydraulic cranes and aerial work platforms. Proc 1995 Int Symp High Perform Steels Struct Appl, 1995:53-55
32 李超.高空作业车的无线遥控.建筑机械,2005(4):86-88
33 董大为 .Simon-Cella 高空作业 车 的自 动 调 平 机构 . 筑 路机 械 与 施 工 机 械化,2004(6):33-35
34 Chandrashekar Karthikeyan, Dekhordi Majid Raissi, Baras John S. Providing full connectivity in large ad-hoc networks by dynamic placement of aerial platforms. 2004 IEEE Military Communications Conference, 2004(3):1429-1436
35 苏冲,张丽娜,徐海东,等.CDZ50 登高平台消防车作业平台的自动调平系统.工程机械,2004(9):23-25
36 刘子金,刘绍华,顾惠军.高空作业平台调平机构.建筑机械,1993(4):30-32
37 马 振 书 , 穆 希 辉 , 罗 磊 . 伸 缩 臂 叉 车 货 叉 调 平 设 计 及 误 差 分 析 . 叉 车 技术,2005(4):11-13
38 Li Zhe-Yu, Yang Hong-Bo, Zhang Xun. Realization of visual simulation of an aerial imaging platform. Guangxue Jingmi Gongcheng/Optics and Precision Engineering, 2005(13):240-244
39 杨晓波.高空作业车的电控调平系统.建筑机械,1999(5):23-25
40 周先觉.高空作业机械工作斗调平机构探讨.建设机械技术与管理,1998(1):17-19
41 凌学俭.GKZ-30 高空作业车液压系统改进设计.工程机械,1995(6):8-10
42 Fleischfresser Wolfgang. Hydraulic Systems in Mobile Aerial Work Platforms. Diesel Progress International Edition, 2003,22(4):42-44
43 李建忠.高空作业车大臂坠落事故分析.工程机械,2005(2):67-69
44 Smith Timothy R. An evaluation of fatigue cracking in an aerial platform yoke from a fire-fighting vehicle. Engineering Failure Analysis, 2002,9(3):303-312
45 巩传雷,张文君,李思益.MATLAB 优化工具箱在机构设计中的应用方法.现代机械,2004(6):38-40
46 王昀睿,郭卫.用 MATLAB 优化工具箱求解机械最优化问题.煤矿机械,2000(7):6-8
47 祖效群,赵艳丽.基于 MATLAB 语言的机械优化设计.重型机械科技,2006(1):11-13
48 Noguchi S, Kagamihara K, Kamano T, Suzuki T. High Precision Complex Operations of Aerial Working Platform under Self-Tuning Fuzzy Control Japan. Denki Gakkai Ronbunshi. C, Erekutoronikusu Joho Kogaku, Shisutemu, 1997,117(11):1573-1575
49 焦国太,李华,王华,等.基于 MATLAB 优化工具箱的变质心滑块优化设计.探测与控制学报,2004,26(1):38-40
50 祁永庆,董秀林,董伟亮.基于 CAN 总线的 PLC 在车辆多任务协同控制中的应用.工程机械,2003(02):1-3
51 El-Jabu Bashir, Steele Raymond. Aerial platforms: A promising means of 3G communications. IEEE Vehicular Technology Conference. 1999(3):2104-2108
52 朱华旭.总线技术在车内网络中的应用研究.武汉理工大学学报,2005(5):204-206
53 徐争颖.CAN 总线及其网络系统的实现.自动化与仪表,2005(5):39-41
2 王宗君.高空作业机械发展的宏观设想.建筑机械,1997(11):28-30
3 Smith Anne. Things looking up for aerial work platforms. Diesel Progress North American Edition, 2005,71(1):12-14
4 李卫国,黄俊君.新型高空作业平台的开发和应用.建筑机械化,2003(11):34-36
5 Yengst Charles R. Aerial work platforms no longer a bubble ready to burst, Diesel Progress North American Edition, 2002,68(10):4-6
6 章崇任.日本高空作业车的新进展.建筑机械化,2002(3):53-55
7 Schimaneck F, Merrifield D K. Aerial Work Platforms: Safety, Liability & The Rental Center. Professional Safety, 1998,73(1):25-28
8 陈继军.我国高空作业车的生产与发展.城市车辆,1995(1):40-42
9 丁中立.21 世纪高空作业车展望.建设机械技术管理,1996(5):38-39
10 吴胜缔,魏东琦.液压高空作业设备中有关安全的功能设计.江苏工业学院学报,2003,15(2):46-49
11 Lorenz Ralph D. Navigation of aerial platforms on Titan, 2002(1121):563-573
12 刘金龙,周祥生,顾玉山.浅谈高空作业平台使用和维修.中国修船,1995(3):38-39
13 沈永红,耿艳杰.高空作业车水平支腿油缸渗油原因分析.建筑机械,2003(3):50-51
14 Jodeh Nidal M, Blue Paul A, Waldron Athon A. Development of small unmanned aerial vehicle research platform: Modeling and simulating with flight test validation. Collection of Technical Papers-AIAA Modeling and Simulation Technologies Conference, 2006:369-391
15 朱世强,林建亚.高空作业车双臂协调控制技术的研究.工程机械,1995(3):17-19
16 黄德中.高空作业车电液比例变幅液压系统.建筑机械,1994(10):29-30
17 刘涛,罗念宁,陈娟,等.高空作业车辆升降机构液压系统改进设计.液压与气动,2005(9):12-14
18 屈福政,滕儒民.直臂式高空作业车动力学分析.机械设计与制造,2002(4):75-77
19 唐传平,陈继军.解决高空作业车低温作业问题的措施.专用汽车,2003(1):28-29
20 McNeely Mark. Hydrostatic aerial work platform feature gasoline, diesel engine options. Diesel Progress Engines & Drives, 1995,61(3):8-11
21 姚怀新,陈波编著.工程机械底盘理论.北京:人民交通出版社,2001:94-138
22 马永辉,徐宝富,刘绍华.工程机械液压系统设计计算.北京:机械工业出版社,1985: 76-207
23 乔维高.直升式高空作业车的特点与设计.专用汽车,1999(2):19-21
24 Spadaro John F, Dixon Dorene I, Skias Nicole R, Bumgardner Marvin. Multimodal optical sensor suite for unmanned aerial vehicle platforms. Collection of Technical Papers-InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration, 2005(4):2046-2057
25 涂桥安,王保平,王兆伍.移动式高空作业平台的设计研究.机械设计与制造工程,2001(5):16-18
26 江浩,荣学文,樊炳辉.一种智能高空作业车的设计.煤矿机械,2003(3):1-3
27 凌学俭.高空作业机械液压系统组成功能特点及可靠性分析.工程机械,1993(1):6-9
28 唐传平.高空作业车液压系统污染途径及控制.专用汽车,2005(1):15-17
29 Peters William C. Replacing an aerial unit: Platform or straight stick. Fire Engineering 1996,149(10):89-92
30 凌学俭.高空作业车液压系统分析. 建筑机械,1997(4):24-26
31 Pike G S. Application of high-performance steel in mobile hydraulic cranes and aerial work platforms. Proc 1995 Int Symp High Perform Steels Struct Appl, 1995:53-55
32 李超.高空作业车的无线遥控.建筑机械,2005(4):86-88
33 董大为 .Simon-Cella 高空作业 车 的自 动 调 平 机构 . 筑 路机 械 与 施 工 机 械化,2004(6):33-35
34 Chandrashekar Karthikeyan, Dekhordi Majid Raissi, Baras John S. Providing full connectivity in large ad-hoc networks by dynamic placement of aerial platforms. 2004 IEEE Military Communications Conference, 2004(3):1429-1436
35 苏冲,张丽娜,徐海东,等.CDZ50 登高平台消防车作业平台的自动调平系统.工程机械,2004(9):23-25
36 刘子金,刘绍华,顾惠军.高空作业平台调平机构.建筑机械,1993(4):30-32
37 马 振 书 , 穆 希 辉 , 罗 磊 . 伸 缩 臂 叉 车 货 叉 调 平 设 计 及 误 差 分 析 . 叉 车 技术,2005(4):11-13
38 Li Zhe-Yu, Yang Hong-Bo, Zhang Xun. Realization of visual simulation of an aerial imaging platform. Guangxue Jingmi Gongcheng/Optics and Precision Engineering, 2005(13):240-244
39 杨晓波.高空作业车的电控调平系统.建筑机械,1999(5):23-25
40 周先觉.高空作业机械工作斗调平机构探讨.建设机械技术与管理,1998(1):17-19
41 凌学俭.GKZ-30 高空作业车液压系统改进设计.工程机械,1995(6):8-10
42 Fleischfresser Wolfgang. Hydraulic Systems in Mobile Aerial Work Platforms. Diesel Progress International Edition, 2003,22(4):42-44
43 李建忠.高空作业车大臂坠落事故分析.工程机械,2005(2):67-69
44 Smith Timothy R. An evaluation of fatigue cracking in an aerial platform yoke from a fire-fighting vehicle. Engineering Failure Analysis, 2002,9(3):303-312
45 巩传雷,张文君,李思益.MATLAB 优化工具箱在机构设计中的应用方法.现代机械,2004(6):38-40
46 王昀睿,郭卫.用 MATLAB 优化工具箱求解机械最优化问题.煤矿机械,2000(7):6-8
47 祖效群,赵艳丽.基于 MATLAB 语言的机械优化设计.重型机械科技,2006(1):11-13
48 Noguchi S, Kagamihara K, Kamano T, Suzuki T. High Precision Complex Operations of Aerial Working Platform under Self-Tuning Fuzzy Control Japan. Denki Gakkai Ronbunshi. C, Erekutoronikusu Joho Kogaku, Shisutemu, 1997,117(11):1573-1575
49 焦国太,李华,王华,等.基于 MATLAB 优化工具箱的变质心滑块优化设计.探测与控制学报,2004,26(1):38-40
50 祁永庆,董秀林,董伟亮.基于 CAN 总线的 PLC 在车辆多任务协同控制中的应用.工程机械,2003(02):1-3
51 El-Jabu Bashir, Steele Raymond. Aerial platforms: A promising means of 3G communications. IEEE Vehicular Technology Conference. 1999(3):2104-2108
52 朱华旭.总线技术在车内网络中的应用研究.武汉理工大学学报,2005(5):204-206
53 徐争颖.CAN 总线及其网络系统的实现.自动化与仪表,2005(5):39-41
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