Research On Synchronization Of Steering Of Two Vehicles Of 5T Transfer Vehicle

Industrial enterprises often need to move production materials of various sizes and weights in the factory area,which has created a demand for small-tonnage,compact structure,and flexible driving vehicles.The 5T transfer vehicle can use single vehicle transfer or dual vehicle combined transfer according to the size and weight difference of materials.The performance of the steering system is one of the main factors affecting the performance of the 5T transfer vehicle.Its steering synchronization performance directly affects the safety of the dual-vehicle joint transfer: once the steering synchronization is poor,the vehicle will be stuck and the vehicle will slip.It will cause a rollover accident.Therefore,improving the synchronization performance of the 5T transfer vehicle's dual-vehicle cooperative steering is of great significance to improve the safety and efficiency of transportation.Aiming at the design requirements of steering synchronization of 5T transfer vehicle,this paper designs its hydraulic steering system and dual-vehicle steering synchronization control system.Through simulation analysis and experimental research,it determines the synchronization steering accuracy requirements that its control algorithm and synchronization control strategy can achieve.First,the type of steering actuator and hydraulic system are selected,the design of the steering system and component calculation are completed,and the relationship between the wheel angles of the remaining axes and the reference wheel angles during the longitudinal coordinated steering of the two vehicles is studied;variable pumps and steering are established.The mathematical model of the system analyzes the variable adjustment mechanism of the steering system.The performance of the steering system is simulated and verified by using AMEsim software.A fuzzy PID controller for the dual-vehicle steering of a 5T transfer vehicle is designed.The simulation analysis is used to make a comparative study.The dual-vehicle steering is controlled synchronously under the PID algorithm equivalent control,PID algorithm master-slave control,and fuzzy PID algorithm masterslave control.Finally,the 5T transfer vehicle was used to carry out the double-vehicle longitudinal coordinated steering experiment against the fuzzy PID algorithm and the master-slave synchronization strategy to verify the correctness of the simulation results.The test results show that the hydraulic steering system designed in this paper can achieve a high-precision synchronous steering effect when adopting the fuzzy PID algorithm and master-slave synchronization strategy designed in this paper.