Study On Key Techniques Of Intelligent Hydrostatic Crawler Tractor

This paper studies the control system of intelligent hydrostatic bulldozer thoroughly,supported by the cooperation items between SANY Heavy Industry Co.Ltd and Chang'anUniversity—"Study on Hydrostatic Bulldozer Matching and Traveling control system"and"Study on Key Techniques of Intelligent Hydrostatic Crawler Tractors".Main contentsincluded in this paper are:1.Collect and coordinate the technologies and developments on control systemes of thetraveling,the state watching and the failure diagnose methods used on hydrostatic bulldozersall the world,Analyze the parameters of engine,controller and displayer used on famousforeign bulldozers,Search and analyze related patents;2.Study the traveling system efficiency and matching parameters of intelligenthydrostatic bulldozers,Advise a control mode of the variable displacement pump and motor:the max displacement ratio on motor and pump should be between 2～2.5,if it is less than 2,the max velocity of bulldozer must be decreased(decrease the end gear of hydrostaticbulldozer,i〈70),if not,the rev of motor will excess the max,bear will be destroyed early;3.Analyze the travel system characteristic and requirement of intelligent hydraulicbulldozers,Advise the control mode,method and composing,choose a adaptedcontroller,design the hardware;4.Advise methods,modes and schemes of the fault diagnose,design the fault diagnosesystem,choose the displayer,build the communicate system on CAN;5.Advise module design method of the intelligent controller system,design thesoftware of drive control,fault diagnose,communication system,realize the control functionsof bulldozer,confirm some key parameters of the control system;6.Study the engine curve characteristic which used on bulldozers,advise the aimrev,the load rate of vary shelves of the intelligent bulldozer and the high-point adjust methodof engine;7.Study the static and dynamic characteristics of the engine and hydraulic system,studythe hydraulic system with the simulation,advise the match and control methods;8.Study the work status of engine,variable pump and motor through the TQ160C bulldozer experiment,advise a reasonable shelve of the hydraulic bulldozer;9.Study the high-point load adjust control arithmetic of the intelligent hydrostaticbulldozer,advise an engine rev control method based on fuzzy PID,adopt the different K_P,K_I,K_D for variable load,compare the PID control method and fuzzy control method with thesimulation on Matlab-Simulink,it is proved by practice that the fuzzy control method candecrease the rev wave of engine,increase the used rate of engine power;10.Design a simulate test system on the control system,debug the forward/back,stop,start,left/right turn module,and the state inspect and fault diagnose method;11.Using the sample machine,experiments are done on the parameter demarcate,drive,fault diagnose,beeline drive,control parameter demarcate,traction and work,it is proved the performance of the sample machine has meet the design requirement.