Study on coordination control of steering system for self-propelled hydraulic transporter

摘要

Aimed at coordination control of steering system for self-propelled hydraulic transporter, load sensing technology is adopted, and a coordination PID control strategy with master-slave mode is put forward. Simulation analysis of coordination control of steering system was performed using AMESim and MATLAB software, and experimental study with two different loads was carried out on the prototype. The main factors affecting coordinated motion are presented. The simulation and experimental results show that: good coordination effects have been acquired by using the coordination PID control strategy with masterslave mode, and the dynamic errors are no more than 2°, the steady-state errors are less than 0.5° under different operating mode, the problem of coordination control of the steering system has been solved.