Design And Control Algorithm Research On The Hydrostatic Driving System Of Loader

With the development of mechanical-electrical-hydraulic integration technology, more and more hydraulic transmission has been used in loader driving system, with a trend of replacing the traditional transmission forms. The study object of this paper is the mining anti-explosive ZLY06-loader that has been designed by Xi'an University of Science and Technology. According to some problems existing in the loader, through studying and analyzing on the hydrostatic transmission and control mode and computer simulation, discussing several problems on the design of loader hydrostatic transmission, including the reasonable parameters matching of hydraulic system, the control mode and method of the driving system and so on.The primary research contents of this paper including the four following aspects: Firstly, according to the characteristics of loader's operation and the requirements of driving system, the hydrostatic driving system has been designed. Secondly, parameters matching and components alternative and computer aided design program have been completed. Thirdly, the mathematical model and numerical value of the parameters have been established. Fourthly, by using the Ziegler-Nichols algorithm and Signal Constraint module, the PID parameters have been tuned and the fuzzy self-adaptive PID controller has been designed. Simulation results show that the controller achieves better performance than classic one, and with better dynamic response, strong noninterference and robustness and fast response characteristic even in the circumstance of external disturbance and system parameters variations.By designing the hydrostatic driving system and studying the control algorithm of the loader, the universal method for studying on hydrostatic transmission and control modes of engineering vehicle have been developed, which have provided a kind of way of thinking and method for the design of other walk machinery.