Design And Research Of The Walking Synchronous Control System On BZT1000Transporting Bridge Vehicle

BZT1000T transporting bridge vehicle is a special vehicle used for bridge renovationproject. The reasonable design of drive control system is the key to guarantee stability andsafe operation of carry bridge vehicle. For a series of problems, such as skid and walk outof sync when the vehicle is walking, we need to redesign the drive synchronous controlsystem.Firstly, considering the operation condition of the transporting bridge vehicle, thispaper designs the hydraulic drive system, and the key components are carried onreasonable calculation selection. The detection of the speed and calculation are introducedin this paper, and put forward a new method of computing speed, thus reducing thecalculation error and providing the theoretical basis for the subsequent speed control.Considering the walking stability of the transporting bridge vehicle, this paper introducesthe dynamic characteristics and the principle of speed control. To prevent the slippagephenomena in the process of driving, electro-hydraulic directional control valve isadopted.Secondly, PID controller based on the S-C module method of pump control motorsystem is designed, establishing the system modeling and doing simulation analysis withMatlab software, to get a stable speed response curve of the motor.In this paper, the No.1and No.2vehicles use the displacement signals as controltarget rather than the speed signals as the final control goal of the traditional method.Aimed at the drive synchronous system, the parallel synchronous control, themaster-slave synchronous control and the cross coupling control strategies are analyzedand compared respectively, and their models are established. It is concluded that thecross coupling control strategy still can guarantee two cars synchronization in the case ofthe large load and serious partial load, compared with the other two kinds of synchronouscontrol strategies has improvement significantly. This provides the theoretical basis forengineering vehicles to realize the synchronous of double cars.Finally, the control scheme of the drive system which is based on CAN bus isdesigned to realize the functions of the transporting bridge vehicle, and the corresponding electronic components are selected. On this basis, the control programs of chief drivecontrol system are written using CoDeSys software.