Research On Automatic Hydraulic Leveling Of Heavy Duty Transporter With Fuzzy PID Control Strategy

With the developing of chinese economy,more and more great projects are appeard.In these projects,there are lots of heavy,huge,and large objects to be transported.while the technology & equipment of logistic is developing rapidly,heavy duty transporter is the best tool to transport these objects,the safety of the transit is very important,the plane of the transporter should be level when the heavy duty transporter is working.but the condition of heavy duty transporter is very bad and the plane can't be leveled by worker real time.the heavy duty transporter should be with a automatic leveling system,in order to adjust the transporter plane to make shure the plane is level.This paper is focus on(1) introduce the structure of heavy duty transporter and the domestic & oversea leveling system of heavy duty transporter.Expound the working condition of heavy duty transporter.(2) compare some leveling strategies,and decide to choose 4 points leveling strategy,then,analyse the two leveling strategies(displacement leveling strategy and angle leveling strategy),and choose one strategy which is fit for the heavy duty transporter leveling.based on the hydraulic transmition system of the whole vehicle,research on the suspension of 1/4 vehicle,and calculate the function of suspension,which is valve control unsymmetry cylinder,by the way,analyse one 175t heavy duty transporter,and analyse the traditional pid control strategy which is not fit for the heavy transporter leveling.(3) compare fuzzy pid with tradition pid,and adopt fuzzy-pid control strategy, introduce the way how to build the fuzzy pid controller,in order to adjust the k_p,k_i,k_d online.(4) make one 175t heav duty transporter as an example,adopt the fuzzy-pid strategy,use matlab/simulink simulate it,and compare it with traditional pid contol strategy,the conclusion indicate that fuzzy pid is better than traditional pid strategy (5) use pro/e to model the heavy duty transporter,and translate it to adams,at last,simulate the whole heavy duty transporter by adams and matlab.The co-simulation results show that,fuzzy control strategy has a good control effect on side tumbling stability of vehicle.Higher accuracy and faster request of the leveling control system can be satisfied.