| All condition transported bridge erecting machine with the function integration of lifting,transporting and erecting is a new railway bridge erecting equipment and it is widely used in the highspeed-railway bridge erecting work for its simple operation、high safety and flexibility.The walking system of the machine is composed of the front driving part and the back driving part,and the two parts are linked by the grider.Yet due to the difference of volumetric efficiency,tyre flattening and hydraulic pipe length difference and so on,the desynchrony phenomenon of the two driving parts appears and it not only reduces power output and increases consumption of the vechicle,also aggravates the stress of the frame. So some researches are carried out to solve the force desynchrony problem.Firstly, afer in-depth analysis of whole function structure of the vechicle,main hydraulic components control features and the composition of the electric control system, this paper proposes a synchronous control strategy based on the driving pressure synergy, and the results of the simulation and experiments proves the effectiveness of the control strategy; Secondly,to improve the stability and accuracy of the control system,we put forward two structures(traditional PID and Fuzzy PID) and analyze the forms and realizing process with PLC procedure of them;Thirdly, to reduce the interference influence on the pressure sensor signal, and improve the stability of the control system, this paper proposes a filter and curve fitting method based on least square method and analyzes its structure and program implementation process;Lastly,field experiments are carried out and the driving pressure of the front and back parts of the vehicle under different driving conditions and different control structures is analyzed.The results show that after the application of the synchronous control strategy,the driving force desynchrony problem is solved effectively and the fuzzy PID control strategy has better performence. |
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