Analysis And Research Of Loader Wire Steering System

The wheel loader has the advantages of fast traveling speed,high loading efficiency,high safety and easy operation,and has become the most widely used construction machine.The loader steering system and working system are the two basic components of the loader.The efficiency of the steering system will directly affect the efficiency of the loader and the labor intensity of the driver.Based on the existing hydraulic steering hydraulic system and the line control technology,this paper designs an optimization scheme for controlling the steering cylinder by the electromagnetic proportional reversing valve.And the system is mathematically modeled,control strategy selection,control system design.A joint simulation model based on AMESim and MATLAB/Simulink was established,and the steering hinge mechanism was optimized.This paper specifically includes the following parts:(1)Theoretical analysis of the steering mechanism of the loader and derivation of the geometric principle of the steering mechanism.Mathematical modeling is performed according to the steering principle,and the size optimization of the steering mechanism is realized by programming to obtain an optimized steering structure size.The steering hydraulic system of the electromagnetic proportional reversing valve control steering cylinder is simplified into a valve-controlled symmetrical cylinder to derive the transfer function of the system,and the dynamic characteristics of the system are analyzed.(2)Analyze the full hydraulic steering system of the existing loader and combine the wire control technology to improve the hydraulic system.Modeling simulation in AMESim software for the steering hydraulic system design adopted.PID control is carried out using the PID module provided by the software,and the PID control parameters are adjusted by the batch processing technology to improve the response effect of the steering system to the step signal and the sinusoidal signal.(3)According to the corresponding control principle of steering system,the advantages and disadvantages of intelligent algorithm such as fuzzy adaptive control and neural network adaptive control are applied to the tuning of PID parameters.A fuzzy PID controller is designed.The control system model was established in MATLAB/Simulink,and the joint simulation model of AMESim and MATLAB/Simulink was established.The simulation results show that the fuzzy PID controller can improve the control precision,response speed and stability of the steering system.(4)The hardware system of the loader's wire-steering steering control system is designed based on the programmable controller,and the control program is written in combination with the principle of the wire-controlled steering control.