液压气动与密封/2024年第3期doi:10.3969/j.issn.1008-0813.2024.03.008两车纵向并车联合运输同步控制技术研究戴建军1,王建军23,赵静二²,李文雷2（1.江苏海鹏特种车辆有限公司，江苏泰州214521；2.燕山大学机械工程学院，河北秦皇岛066004；3.安徽机电职业技术学院，安徽芜湖241002）摘要：针对两台液压载重车联合运输大型轮船的同步控制进行研究，根据运载装备的特点，采用两车纵向并车的运输方式，行走过程中两车之间必须保证同步行走，否则可能会发生轮船滚落或载重车结构损坏的重大事故。针对运输车速度的稳定控制，求解出行驶驱动系统泵控马达的系统传递函数，并仿真验证了控制器采用PID控制算法可以提高运输车速度的稳定性。根据运输的特点，采用“主从式”控制策略，提出采用驱动压力和行驶速度的双闭环控制，设计出基于CAN总线的控制系统，最后进行了实车试验，根据现场试验采集的数据,验证了此控制器能够使两车保证很好的同步效果。关键词：联合运输；液压系统群；同步控制；CAN总线；双闭环PID控制中图分类号：TH137(1.JiangsuHaiPengSpecialPurposeVehicleCo.,Ltd.,Taizhou214521,China;2.CollegeofMechanicalEngineering,YanshanUniversity,Qinhuangdao066004,China;3.AnhuiTechnicalCollegeofMechanicalandElectricalEngineering,Wuhu241002,China)Abstract:Astudywasconductedonthesynchronouscontroloftwohydraulictruckcombinedtransportlargeships.Accordingtothecharacteristicsofcarryingheavyobjects,thelongitudinalcombinedtransportationmethodwasadopted.Duringthetransportationprocess,thetwovehiclesmustensuresynchronousrunning,otherwisemajoraccidentssuchasshiprollingorstructuraldamagetothetruckmayoccur.Forthestablespeedcontrolofthevehicledriving,asystemtransferfunctionforthepumpcontrolledmotorofthedrivingsystemwassolved,anditisverifiedthataddingPIDcontrolalgorithmcanimprovethespeedstabilityofthevehicle.Accordingtothecharacteristicsoftransportation,a“master-slave"controlstrategywasadopted,anddoubleclosed-loopcontrolusingdrivingpressureanddrivingspeedisproposed,thecontrolsystembasedonCANbusisdesigned.Finally,actualvehicletestswereconducted,andbasedonthedatacollectedfromon-sitetests,itwasverifiedthatthiscontrollercanensuregoodsynchronizationbetweenthetwoveh...
