基于智能控制的装载机自动换挡策略

装载机具有工况复杂的特点,提出根据驾驶意图采用多种换挡规律相结合的装载机自动换挡控制策略,并将模糊逻辑应用于司机驾驶意图的识别。对ZL50G型装载机进行改装,构建自动变速控制系统,进行整机现场铲掘和行走试验,结果表明,该自动换挡策略的控制逻辑正确,简化了驾驶员操作。V形铲掘作业和行走工况的油耗数据表明,采用该自动换挡策略在降低换挡劳动强度的同时起到节约能源的作用,兼顾装载机工作的经济性、动力性和实用性。     

工程车辆自动变速智能控制系统开发与试验研究

结合ZL50轮式装载机动力传动系统理论分析和换挡控制算法设计,根据装载机工作特点、操纵方式以及控制系统的总体要求,以16位单片机80C196KC为电子控制系统的核心,设计开发了一套工程车辆自动变速智能控制系统。在模型建立过程中用混沌算法改进了传统的神经网络BP算法。最后,在试验台上测试了开发的自动变速电控系统的综合性能。试验结果表明:所提出的智能换挡控制系统的结构和算法是可行和有效的,该系统可以根据试验测试工况的变化准确、可靠地实现自动换挡。     

基于动态规划的液力机械自动变速传动(HMPRT)自动换档控制策略

针对外界负载变化比较剧烈的轮式装载机等工程车辆采用传统液力机械自动变速器时,面临着效率偏低、油耗较大的问题,提出在轮式装载机上应用新型回流式液力机械自动变速传动(Hydraulicmechanicalpowerrefluxtransmission,HMPRT)系统。装载机需要通过换档来适应复杂的作业要求,所以结合HMPRT调速特性制定基本换档规律。考虑到装载机等工程车辆常在已知典型的工况下进行作业,同时为避免基本换档规律的动力性和经济性模式的来回切换,降低驾驶员的工作量,采用动态规划建立HMPRT换档规律的优化设计方法。该方法首先根据装载机常用作业工况的特点及HMPRT的换档特性,确定DP控制参数,以燃油消耗作为代价函数,并且增加惩罚函数,用来避免产生频繁换档现象。研究结果表明,采用动态规划提出的换档规律时,与最佳动力性换档规律相比燃油消耗降低3.5%,与最佳经济性换档规律相比换档次数减少33.3%。综合考虑了典型作业工况,在保证动力性和经济性的同时,避免了频繁换档。     

液力机械变速系统的维护保养要点

厦门工程机械厂生产的ZL50-Ⅱ型、XG953型轮式装载机,配装X6135-Ⅰ型、D6114系列B型柴油机和SWYJ320型液力机械变速系统。在维修液力机械变速系统时,在确保质量和节约的原则下,应主要注意以下几点:(1)该机的液力机械变速系统由液力变矩器和动力换挡变速器两部分组成,大修时应选购同一生产厂的总成或部件产品,或采购专供配套使用的零部件。     

一种汽车智能换挡体系的研究

智能换挡是汽车自动变速技术的发展方向。在分析驾驶员－－汽车－－环境闭环系统各部分之间关系的基础上,研究了驾驶员类型、意图、汽车行驶环境与驾驶员操纵特征参数、汽车行驶状态参数之间的关系,提出并建立了基于驾驶员操纵推理的汽车智能换挡系统体系结构,并进行了转弯过程的汽车智能换挡与通常自动换挡对比实验验证。     

小松WA600-3型轮式装载机

小松WA600—3型轮式装载机具有小松轮式装载机的最先进技术,提高了生产率,延长了使用寿命并增加了操作者的舒适性,适宜于集料,大型施工及矿用,该机机重45t。WA600—3型装载机配备康明斯QSK19发动机,功率350kw,此发动机为6缸、电子控制、直接喷射、涡轮增压式,满足美国环保局（EPA）的现行排放标准。WA600－3型装载机体现了小松该规格轮式装载机的最新技术,包括双回路液压系统,液压驱动湿式多片式制动器,符合人机工程学的操作控制系统以及附加的带自动降挡开关的全动力换挡自动变速器和电控悬挂系统（ECSS）。该机工作速度…     

轮式装载机模糊自动变速技术的研究

提出了装载机的综合性模糊换挡策略.其基本思路是利用各种信息判断车辆处于何种运行状态,执行车辆在该状态下的换挡策略.首先给出各工况的识别方法,然后建立了各典型工况下的模糊换挡策略,并给出了换挡可行性分析原理.台架试验验证了该换挡控制策略可以判断车辆的各种典型工况,而且能够应用该工况下的换挡策略进行换挡操作.     

装载机

GJ20041104 利勃海尔静液压装载机自动换挡变速箱系统[刊,中]/任金生//建筑机械化.—2003,24(10).—31～33分析了轮式装载机行走液压传动方式的优点,在此基础上介绍了利勃海尔L564静液压装载机2×2自动换挡变速箱系统的功能原理及系统组成。图6表1GJ20041105 徐工高原型装载机[刊,中]/裴厚磊//建筑机械化.—2003,24(10).—41～42文章介绍了高原型装载机的动力系统、强化冷却系统、高原低温启动系统及电气系统,并给出了主要技术参数。图1表1     

干式DCT换挡模糊时间决策及转矩协调控制

基于自主开发的5速干式双离合器自动变速器(Dual clutch transmissions,DCT),为充分反映驾驶员意图并改善不同行驶工况下DCT的换挡品质,从系统层面探讨发动机与双离合器间的转矩协调控制问题,推导换挡过程发动机转速及离合器传递转矩的计算公式。考虑该DCT物理结构特征,建立5自由度换挡动力学方程,简化后分别得到2自由度滑摩阶段模型和单自由度在挡运行模型。根据换挡品质要求量化换挡控制目标,分析换挡过程发动机与离合器的转速和转矩特性,提出模糊换挡时间决策和基于DCT动态模型的转矩协调控制策略。在Matlab/Simulink软件平台上,搭建DCT换挡控制仿真模型,对驾驶员不同意图下DCT的升、降挡过程进行仿真分析,并开展实车转毂试验。仿真及试验结果表明,所提出基于模型的转矩协调控制策略不仅有效体现了驾驶员换挡意图,改善了DCT换挡品质,而且能够较好地适应各种换挡工况,具有较强的鲁棒性。     

基于遗传算法的车辆模糊换挡控制实验研究

针对车辆自动变速系统的非线性,应用模糊逻辑控制理论,设计了能反映驾驶员意图的车辆换挡模糊控制器,并利用遗传算法对模糊控制器的参数进行了优化,最后设计并制作了实验平台,模拟车辆的换挡过程.实验证明,优化后的模糊换挡控制器能有效的改善换挡品质,并验证了整个设计策略的可行性和有效性.     

FOUR-PARAMETER AUTOMATIC TRANSMISSION TECHNOLOGY FOR CONSTRUCTION VEHICLE BASED ON ELMAN RECURSIVE NEURAL NETWORK

From the viewpoint of energy saving and improving transmission efficiency, the ZL50E wheel loader is taken as the study object. And the system model is analyzed based on the transmission system of the construction vehicle. A new four-parameter shift schedule is presented, which can keep the torque converter working in the high efficiency area. The control algorithm based on the Elman recursive neural network is applied, and four-parameter control system is developed which is based on industrial computer. The system is used to collect data accurately and control 4D180 power-shift gearbox of ZL50E wheel loader shift timely. An experiment is done on automatic transmission test-bed, and the result indicates that the control system could reliably and safely work and improve the efficiency of hydraulic torque converter. Four-parameter shift strategy that takes into account the power consuming of the working pump has important operating significance and reflects the actual working status of construction vehicle.     

工程车辆智能自动变速控制系统仿真研究

智能换挡是车辆自动变速技术的发展方向.为此以最佳动力性作为控制目标,研究了工程车辆的动力换挡变速器如何实现智能化控制的问题.以装备有4D180型液力机械式变速器的 ZL50装载机为对象,建立了工程车辆动力传动系统仿真模型,在此基础上,应用混沌神经网络(CNN)设计了工程车辆自动换挡智能控制系统,并利用 Matlab 软件进行了仿真,仿真结果表明:所提出的智能换挡控制系统的结构和算法是可行的,可以实现工程车辆的自动换挡.     

An investigation of energy efficiency of a wheel loader with automated manual transmission

This paper describes an investigation of energy efficiency by applying an advanced powertrain system in a conventional wheel loader. A conventional powertrain of a wheel loader consists of an engine, torque converter and transmission. A torque converter in a conventional system generally causes a significant amount of energy loss, as determined by analyzing energy flow based on V-pattern working. To prevent energy loss in a torque converter, Automated manual transmission (AMT) was proposed and modeled in this paper as an advanced powertrain. A wheel loader based on AMT does not need to use a torque converter since the single clutch system is used between the engine and transmission with subsystems of engine controller, clutch actuator and controller. A simplified single clutch system and controller were constructed for V-pattern working of a wheel loader. Additionally, a PI-controller was used as a control algorithm for engine speed control to prevent energy loss while the clutch is not engaged. All simulation models have been constructed in the Matlab/ Simulink environment, and simulation studies were conducted by using a simulation model of a wheel loader with a driver model based on V-pattern working. Simulation results of the AMT-based wheel loader were analyzed by comparison with the results of the torque converter-based wheel loader, and the results show that the AMT-based wheel loader is more energy efficient than the conventional wheel loader.     

基于BP神经网络的装载机自动换挡控制系统

利用专家给出的 2参数换挡规律对神经网络进行训练 ,得出装载机传动系统的BP神经网络模型。用此模型进行仿真控制试验 ,所得挡位与给定的换挡规律基本保持一致 ,说明利用神经网络控制装载机自动变速器换挡是可行的。     

Shift robust control during inertia phase for random disturbance load

The automatic transmission of earthmoving machinery generally has problems of shifting shock and poor control robustness. Low-frequency high-energy random loads and large-space model uncertainties are the main causes of these problems. Therefore, we considered a type of wheel loader automatic transmission as the research object and propose a robust control method for the shifting inertia phase of the earthmoving machinery automatic transmission. The control method includes a robust controller K_b, a disturbance compensation controller K_d and a feedforward compensator K_f. The robust controller K_b is designed by μ synthesis method to resist the uncertainties of parameters and structure and guarantee the output speed to track the reference input. A load dynamic estimation method for random disturbance load of automatic transmission is proposed, which improves the compensation effect of disturbance compensation controller K_d. The feedforward compensator K_f is used to eliminate the influence of the reference input on the system. The above control methods were applied to the whole machine simulation platform of a certain type of wheel loader, and the random disturbance load of the measured under real working conditions was taken as input load. Under the conditions of no-load, half-load and full load, the control method has good smoothness and strong robustness. This paper has reference value for solving the inertial phase shift robust control of transmission under random disturbance load.

     

基于SAE J1939的装载机电液换挡辅助试验系统设计

装载机液力机械变速器电液换挡操控系统需进行工作状态监测及诊断测试,利用变速器控制器的CAN总线接口与PC进行数据交互,CAN总线应用层协议遵循SAE J1939,应用编程软件Lab-VIEW开发出上位机程序,实现了电液换挡控制系统的工作状态监测、诊断测试、换挡品质相关参数存储与回放等功能.整套辅助试验系统硬件设备简单,...     

Modeling,validation and energy flow analysis of a wheel loader

This paper presents a wheel loader simulation model, validation results and energy flow analysis. The developed simulation model will facilitate the performance evaluation and optimization process in the development stage of a prototype wheel loader. The wheel loader simulation model consists of mechanical and hydraulic powertrain model, multi-body dynamic model and working part dynamic model. The multi-body dynamic model is simplified since the effect of pitch and roll motion of the wheel loader on the energy flow of the powertrain and hydraulic actuator systems is insignificant, a simplified planar model for the dynamic vehicle is good enough for the objective of this study. Every component is modeled and integrated in a simulation package developed using Matlab/Simulink. The simulation model has been validated using experiment data and the validation results show that it effectively represents the actual dynamic characteristic of the target wheel loader. The verified simulation model will be used as a virtual platform to evaluate the performance of alternative powertrain models such as a dual-clutch transmission and hydrostatic transmission. An advanced control system can also be implemented and evaluated using the virtual platform.     

Robust control design for a wheel loader using and feedback linearization based methods

The heavy equipment industry is building more and more equipment with electro-hydraulic control systems. The existing industry practices for the design of control systems in construction machines primarily rely on classical designs coupled with ad-hoc synthesis procedures. Such practices produce desirable results, but lack a systematic procedure to account for invariably present plant uncertainties in the design process as well as coupled dynamics of the multi-input multi-output (MIMO) configuration. In this paper, two H_∞ based robust control designs are presented for an automatic bucket leveling mechanism of a wheel loader. In one case, the controller is designed for the base plant model. In another case, the controller is designed for the plant with a feedback linearization control law applied yielding improved stability robustness. A MIMO nonlinear model for an electro-hydraulically actuated wheel loader linkage is considered. The robustness of the controller designs are validated by using analysis and by simulation using a complete nonlinear model of the wheel loader linkage and hydraulic system.