Research On Hydraulic Steering System Of Automated Guided Vehicle For Freight Container

China is the world’s largest trading country.With the increase of China’s trade volume year by year,the port’s throughput capacity has become a key factor restricting its development.In order to meet the growing demand for port trade volume,a smart port integrating the Internet,Internet of Things and automated terminal technology has become a key part of it.Through stable and efficient intelligent collaborative operation,it can reasonably optimize and solve problems such as insufficient throughput of ports due to congestion.Automated terminal technology is an important foundation for a smart port,and on-site container automated guided vehicles are an indispensable key part.Its efficient,safe and stable operation efficiency will directly affect the transition efficiency of the entire terminal,thereby indirectly affecting the port’s throughput capacity.Therefore,it is of great practical significance to carry out relevant research on Automated Guided Vehicle for Freight Container.This paper takes the Automated Guided Vehicle for Freight Container as the research object,and proposes an electro-hydraulic proportional steering system that can work with intelligent driving.The electro-hydraulic proportional steering system can be operated by a remote control for steering;it can also be combined with intelligent driving to realize automatic steering by accepting the control commands sent by the upper computer.The paper introduces the working principle and dynamic characteristics of the container AGV electro-hydraulic proportional steering system and its main components(load-sensing pump,LUDV valve,axle mechanical steering mechanism)in detail;establishes the container AGV steering system AMESim,Simulink and Simcenter 3D Motion Co-simulation model;on the basis of co-simulation,cascade PID and LADRC control algorithms are designed to control the steering action,and the co-simulation comparative analysis is carried out;finally,the correctness and accuracy of the simulation model are verified by bench experiments and vehicle experiments.Control the rationality of the algorithm.Through theoretical analysis and experimental research,it is verified that the electro-hydraulic proportional steering system has the characteristics of high control accuracy,fast response speed,strong anti-interference ability and high reliability,and meets the design requirements of container AGV steering system.The container AGV electro-hydraulic proportional steering system proposed in this paper can be applied not only to engine-driven heavy-duty vehicles,but also to new-energy electric-driven heavy-duty vehicles to improve steering control accuracy and steering response speed;It can not only realize remote control steering operation,but also realize unmanned automatic steering operation in combination with intelligent driving,which has a good application prospect.