| Coiled tubing semi-trailers are widely used in many fields such as drilling and production operations,mainly transporting coiled tubing,injection and so on.Conventional coiled tubing semitrailers are not powered by themselves and share loads with tractors through a traction pin.In the process of semi-trailer driving,semi-trailer rely on tractor traction driving,so the turning radius is large,the road passability is poor.At present,due to the restrictions of road conditions in mountainous and hilly areas,coiled tubing semi-trailers are difficult to enter mountainous and hilly areas for drilling and production,and are mainly used in plain areas.Therefore,this thesis designs a double-rear axle electrically controlled hydraulic steering system for coiled tubing semitrailer,which makes the semi-trailer have active steering in the process of steering,which has important practical value for improving its maneuverability in mountainous and hilly areas and expanding the operating area.In this thesis,the development of coiled tubing semi-trailer electrically controlled hydraulic steering system was investigated.According to the working principle of the steering system,the design scheme of the rear axle steering mechanism of the semi-trailer was proposed.In order to make the wheel angle of rear axle of semi-trailer conform to Ackermann’s angle theorem,the steering mechanism parameters were optimized and the optimal solution was obtained.Then,the kinematics and dynamics simulation of the steering mechanism were carried out by using ADAMS software.The results show that the steering characteristics of the designed steering mechanism are close to the theoretical steering characteristics,that is,it conforms to Ackermann’s angle Theorem.According to the design scheme of steering mechanism and the size of coiled tubing semi-trailer,the structure of steering mechanism was designed,and the finite element analysis of key parts of steering mechanism was carried out using Workbench software.According to the action process of steering system,the hydraulic steering system of rear axle of semi-trailer was designed,the hydraulic system schematic diagram was drawn,and the parameters of hydraulic components were calculated and selected.The simulation model of the hydraulic system was established based on AMESim software and the simulation analysis of the system was carried out to verify the correctness of the simulation model.According to the control principle of the steering system,the electronic control system of the rear axle of the semi-trailer was designed.In order to analyze the performance of the electrohydraulic steering control system,the mathematical model of the steering control system was established.The simulation model of the system was established by using MATLAB /Simulink software and the simulation analysis was conducted.According to the control requirements,the hardware and program of the electronic control system based on PLC were designed. |
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