自行式载重车悬架升降电液同步驱动控制研究

通过对自行式载重车4点悬架同步驱动机械和液压系统工作机理的分析，建立了系统的多领域物理模型和数学模型;针对该同步升降系统存在的耦合性、非线性和模型参数不确定性特点，提出了一种基于多点输出耦合的模糊PID多缸同步驱动控制策略，以4点悬架柱塞缸实际输出位移耦合值为理想输出，由4个独立的位置同步模糊PID控制器分别实现阀控柱塞缸对理想输出动态和稳态的实时跟踪控制。额定载荷为1MN的自行式载重车悬架同步升降试验结果显示：运用该控制策略的车辆悬架同步升降过程中的4点悬架高度的动态误差为±3mm，稳态误差为±1mm，对比试验表明，基于多点输出耦合的模糊PID控制策略具有较高的同步驱动控制精度和较强的适应性与鲁棒性。

Research on Electro-hydraulic Synchronization Driving Control for Self-Propelled Transporter Suspension Lifting

A multi-domain physical model and a mathematical model were established based on analysis of the mechanical and hydraulic working mechanism of four suspensions synchronous driving system with self-propelled transporter. According to the coupling, nonlinear, model parameter uncertainty characteristics in the leveling system, a self-tuning PID-type fuzzy control based on multi-point output coupling synchronous driving algorithm was proposed, with the four suspensions cylinder actual displacement coupling value as a ideal output, by four independent fuzzy PID controller valve control cylinder was realized respectively to ideal dynamic and static real-time tracking control; The results of the test of synchronous lifting for rated load 1MN self-propelled transporter show that four cylinder dynamic synchronization errors are within range of ±3mm, steady synchronization errors range of ±1mm, with the application of the new control strategy. The new control system has the higher control precision of synchronous driving and better adaptability and robustness from the contrast test.