Research On Coordination Control Of Car Body In Large Precision Equipment Transport Vehicle

The structure of large-scale precision equipment is complex,which requires the cooperation of companies from different regions to complete the manufacturing.After each company completes the production of each part,it is necessary to transport each part to the assembly site for assembly.At the same time,large-scale precision equipment needs to be transported at different locations.Large-scale precision equipment is mainly transported by highway.In the process of transportation,the height of vehicle body needs to be adjusted according to road conditions to pass through different roadblocks.In the process of lifting,it is necessary to ensure that large-scale precision equipment can not roll and roll,and ensure the safety of equipment.Therefore,the control of coordinated movement of the body of large-scale precision equipment transporter has gradually become one of the key issues for the research of large-scale precision equipment transporter.Firstly,the structure of large-scale precision equipment transporter is analyzed,and the kinematics and dynamics modeling of adjustable telescopic overturning mechanism and mid-body lifting mechanism are studied.The kinematics model of the lifting mechanism of the mid-bodywork is modeled by space coordinate transformation method,and the driving force of each lifting cylinder is calculated by combining Lagrange method and virtual work principle.The kinematics and dynamics simulation research is carried out by combining ADAMS.Then the design of the hydraulic system of the mid-body adopts load-sensitive variable pump combined with constant pressure control module as the pump source,and the electro-hydraulic proportional multi-way valve is used to control the lifting mechanism and the turnover mechanism with load change,and the electro-hydraulic proportional reversing valve is used to control the telescopic mechanism with constant load.The key hydraulic components and some systems are modeled mathematically,and the hydraulic system is deeply studied.The common PID and fuzzy PID are used to simulate the coordinated lifting electro-hydraulic joint simulation of the lifting mechanism of themiddle frame,and the cross-coupling synchronous control strategy combined with the PID and fuzzy PID control algorithm is used to simulate the synchronous control of the adjustable telescopic overturning mechanism.The simulation results show that the fuzzy PID has better control performance.Finally,in the actual test,the body lifting mechanism adopts the fuzzy PID control algorithm and the adjustable expansion mechanism adopts the cross-coupling synchronization control strategy and the fuzzy PID control algorithm to carry out the control process.The test results show that the use of fuzzy PID control can make the body of large-scale precision equipment transport vehicle get better coordinated control effect and meet the safety requirements of large-scale precision equipment transport process.