基于状态反的全地形救援电梯车辆安全性能优化控制
Jian Yao1,2, Weiyu Qu2, Dongmei Tian2
1School of Resources and Safety Engineering, University of Science and Technology Beijing, Beijing, PR China.
PloS one
|May 9, 2025
概括
这项研究优化了全地形救援升降车的优化.
科学领域:
- 机械工程 机械工程
- 机器人和控制系统 机器人和控制系统
- 采矿安全工程 采矿安全工程
背景情况:
- 在采矿紧急情况下,全地形救援升降车辆的运行稳定性至关重要.
- 现有的车辆结构和方向盘系统可能需要优化以提高安全性和性能.
- 四轮方向盘 (4WS) 在专用车辆中提供了改进机动性和稳定的潜力.
研究的目的:
- 为了优化XZJ5240JQZ30全地形救援升降车的车辆结构和方向盘系统.
- 通过PID优化的系统,增强救援升降车辆的方向稳定性和控制.
- 在模拟和实际应用中验证拟议的控制系统的有效性.
主要方法:
- 基于实际车辆参数的线性2DOF模型和PID增益模型的开发.
- 实施反系统来调整后轮转向角度,以实现4WS控制.
- 使用TruckSim和Simulink进行数值模拟,包括双变车道场景,以分析车辆动态 (中心滑角,曲率) 和PID增速影响.
- 检查中枢高度与低速4WS稳定性之间的关系.
- 在XZJ5240JQZ30车辆上进行实际应用测试,以测量转向角度误差.
主要成果:
- 与没有PID优化控制系统的车辆相比,具有PID优化控制系统的车辆表现出明显更高的转向稳定性.
- 数字模拟证明了PID增益对各种速度的中心点滑动角度和斜率的影响.
- 实践应用测试表明,实际的转向角度与理论值非常接近,证实了系统的准确性.
结论:
- 针对PID优化的控制系统大大提高了全地形救援升降车的方向稳定性.
- 拟议的控制战略为提高矿山救援行动的安全性和有效性提供了重要的实际应用价值.
- 优化4WS控制对于在苛刻的条件下保持车辆稳定至关重要.
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