用可编程控制器实现的重型平台运输车转向控制系统

根据 1 30t升降平台运输车对转向系统的特殊要求 ,通过分析转向驱动机构的传动特性 ,采用C2 0 0HG可编程控制器为核心设计了该车的转向控制系统 ,编制了控制软件 在以PID为基础的控制算法中结合车轮的不同位置和偏转方向进行计算修正 ,达到了车轮在所处的任意位置向左或向右偏转时 ,转向系统的工作速度特性都基本保持一致 从而使转向过程中各车轮组之间的偏转关系始终满足车辆转向特性要求 ,实现转向控制系统的准确、稳定和快速灵敏

A Heavy-Duty Lifting Transporter''''s Steering Control System Based on the Programmable Controller

To fulfill many special steering functions of the 130t heavy duty lifting transporter, the characteristics of steerage driving linkage are analyzed and its steering control system is designed based on OMRON C200HG programmable controller. In the relative applying software the calculating processes of PID control are revised according to different positions of wheels as well as different wheel turning directions. The lifting transporter's steering system is able to maintain nearly the same working qualities, no matter where the wheel positions are and what directions the wheels turn. The turning angle relationships among different wheel groups are so strictly kept under steering angle requirement of vehicle wheels during steering that an accurate, swift and steady steering control system is produced.