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| Analysis of steering system on hydraulic power of mine transportation vehicle based on follow-up control with flexible shaft |
| ZHANG Hong1， DONG Lei2， ZHAO Xiu-mei3 |
| 1. School of Mechanical Engineering， Taiyuan University of Science and Technology， Taiyuan 030024， China; 2. School of Mechanical and Power Engineering， North University of China， Taiyuan 030051， China; 3. Taiyuan Institute of China Coal Technology & Engineering Group Corporation， Taiyuan 030006， China |
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Abstract In order to perfect the design system with the mine vehicle driving and steering system, the full hydraulic power steering follow-up system of certain type mine transportation vehicle was studied. The system used a unique shaft structure feedback, contacting the steering control mechanism connected with the spacial link mechanism and achieving the machine-hydraulic with follow-up control of steering mechanism on mine transportation vehicle. By analyzing the stability and response characteristics of the steering system, the open-loop and closed-loop control system transfer function was obtained. It found that increasing the speed amplification coefficient Kv, would reduce the speed error and load error, but it would also reduce the stability of the system. Reducing the flow-pressure coefficient Kce, could reduce the load error, but would make the damping ratio decrease. The result showed that the magnitude margin of the steering system was 12.5 dB, phase margin was 86.2°, the system response rise time was 0.03 s, and maximum overshoot was 52%. And system phase margin was large, the damping ratio was relatively small, but the fast response was good, and then the system was in steady state. The unique structure design of the steering system provides some references for construcing machinery vehicles.
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Received: 17 November 2014
Published: 28 February 2015
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基于软轴式随动控制的运煤车液压转向系统分析
为了完善矿用车辆行驶转向系的设计体系，对某型运煤车的全液压动力转向随动系统进行了研究．该系统反馈采用独特的软轴结构，把转向控制机构与空间连杆机构连接，实现了运煤车转向控制机构的机液随动控制．通过对该转向系统的稳定性与响应特性的分析，得到了控制系统开环和闭环传递函数，可知：提高速度放大系数Kv，对于减小速度误差和负载误差都是有利的，但同时会降低系统稳定性；减小流量-压力系数Kce，可以减小负载误差，但会使阻尼比减小．研究结果表明，该转向系统幅值裕量为12.5 dB，相位裕量为86.2°，系统响应上升时间为0.03 s，最大超调量为52%，系统相位裕量较大，阻尼比较小，但响应快速性较好，系统处于稳定状态．该转向系统的独特结构也为工程机械车辆转向系的设计提供了一定的借鉴．
关键词：
运煤车,
液压动力,
随动软轴结构,
稳定性
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