Study on coordinated control of steering system for the hydraulic trucks combined transportation

Abstract

For the transport of large-tonnage equipment and structures, most of them use multiple hydraulic trucks to combine. The coordinated control of the hydraulic trucks’ hydraulic system groups is particularly important. The coordinated control of two hydraulic trucks from a company was studied during the steering of combined transportation. First, the hydraulic steering mechanism was analysed, and the functional relationship between steering angle and hydraulic cylinder stroke was obtained. Then, the synchronisation control strategy was compared and analysed, and the synchronous control mode with higher precision was selected. The mathematical model of the steering system was established, and the AMESim model and Simulink model were established to verify the feasibility of the control strategy. Finally, the steering tests of no load and full load were carried out. It was found that the actual test results were basically consistent with the simulation results. It was verified that the steering system with load-sensing pump and master–slave coordinated PID control strategy can better realise coordinated steering action.

Keywords

• synchronisation
• pumps
• valves
• hydraulic control equipment
• hydraulic systems
• three-term control
• steering systems
• coordinated control
• steering system
• large-tonnage equipment
• structures
• multiple hydraulic trucks
• combined transportation
• hydraulic steering mechanism
• steering angle
• hydraulic cylinder stroke
• synchronisation control strategy
• synchronous control mode
• steering tests
• PID control strategy
• coordinated steering action