Design And Research On Travel Driving And Skid-steering Control System Of Wheel Type Welding Vehicle

All weather wheel type welding vehicle is a certainly needed tool used in carrying generator and welding machines in the building of gas and oil pipeline. It is developed to improve the ability of transportation and make it can adapt to construction environment. Its wheel type base replaces traditional crawler base, decrease the weight of base and makes the vehicle travels faster. Its hydrostatic system can supply enough driving force to satisfy welding vehicle traveling on complex or poor road. With using skid-steering system, it has a very short turning radius and a flexible steering. The compensated single trailing arm independent suspension has a good damping effect. The research on the drive and skid-steering control system is an important significance to improve the efficiency of pipeline construction.Firstly, according to the kinematics and dynamics analysis of the skid-steering which all weather wheel type welding vehicle used, reached a conclusion of relationships between turning radius and wheel speed of both sides, steering angular speed and wheel speed on both sides. Obtain a result of the kinetic equation when welding vehicle is in the movement of carrying approximately uniform circular.Secondly, designed the travel driving system of all weather wheel type welding vehicle and determined variable pump control variable motors as its driving typ. Selected key components of the hydraulic drive system through determined the required maximum driving force. Preliminary analyzed the system performance with FADI. According to its driving condition, determined volume level speed regulation as its speed regulation. Build up mathematical model of variable pump control variable motors volume speed control system and use Matlab/Simulink did the modeling and simulation analysis of the system. Designed skid-steering control system, use unilateral wheel independent steering. Designed a PID controller, then did the modeling and simulation analysis of skid-steering control system through Matlab/Simulink. Analyzed the system by simulation of three different conditions (pivot steering, small radius steering, large radius correction steering), compared with the response to the results of the open-loop control system. Finally, used a transporting girder vehicle travel drive system as a test platform, test the response characteristics of the drive system in start acceleration, shifting and retarding conditions to verify that the variable pump control variable motor closed loop and differential steering control system are feasibility for all weather wheel type welding vehicle.