Research On Large Self Loading And Unloading Mobile Garbage Compression Equipment

With the rapid development of urbanization and the proliferation of types and quantities of waste,the existing waste disposal methods are becoming increasingly weak.In order to better build an efficient and low-consumption urban garbage disposal system,it is particularly important to study systematic large-scale self-loading mobile garbage compression equipment and its key technologies.The large-scale self-loading mobile garbage compression equipment involved in this article is a combination of the advantages of garbage compression stations and unloadable vehicles with arm-type carriages.It is achieved through the rational design of key equipment such as arm-type self-loading equipment and movable garbage compression stations.The functional characteristics of the combined use of "one car with multiple boxes".Comprehensive application of multiobjective optimization,finite element analysis,hydraulic transmission,nonlinear control and other theories to carry out theoretical and experimental research on the optimization design of key functional components,dynamic performance analysis and high-precision displacement and force control strategies.The specific research contents are as follows:First,the overview of the large self-loading mobile garbage compression equipment system and the working principle of each functional part are introduced.Then,the mechanical structure system of the large self-loading mobile garbage compression equipment is preliminarily designed,and then based on the conventional static analysis method The designed large-scale self-unloading mobile garbage compression equipment is used for model building and static analysis,structural optimization and lightweight improvement.Secondly,the large self-loading mobile garbage compression equipment is a variable load,multi-operating electro-hydraulic combination product,and its dynamic characteristics will affect the efficiency of urban garbage disposal.Considering the dynamic characteristics of kinematics,dynamics and hydraulic system,combined with simulation technology and numerical calculation,analyze the dynamic characteristics of the lifting and turning mechanism and the self-unloading device at different stages;using the polynomial interpolation method and parabolic trajectory transition method to design different trajectories Improve the working capacity of large self-loading mobile garbage compression equipment.Thirdly,in view of the parameter uncertainty in the hydraulic cylinder position control dynamic model,the adaptive control law is used to approximate the parameters.In order to deal with the friction between the piston rod and the cylinder of the hydraulic cylinder,the control based on the Lu Gre model is adopted.The method compensates the friction interference and improves the position control accuracy.An improved adaptive sliding mode control algorithm for the compression force of the compression device is proposed.The control algorithm is composed of an adaptive sliding mode control algorithm and an external interference adaptation law.The sliding mode control algorithm is used to calculate the basic signal of the compressive force control,and the external interference adaptive law is used to process the sign function generated in the design process of the adaptive sliding mode control algorithm to improve the stability of the garbage compressive force.Finally,based on the developed self-loading garbage compression equipment,the static and dynamic stress test of the portable waste compression station are couduted,and the effectiveness of the structure optimization and lightweight design scheme are verified.Besides,the actuating movement paramters for lifting and turning mechanism together with arm-dragging device are tested,and experimental results validate rationality of the proposed optimal curve.Moreover,the movement control methods for lifting and turning mechanism together with compressing force control algorithm for compression station are investigated,and the superiority of the nonlinear control algorithm for large-scale self-loading mobile garbage compression equipment are verified.This dissertation has 121 figures,16 tables and 134 references.