CN212500102U - Oil liquid anti-shaking device of flexible linear tank based on fuzzy algorithm - Google Patents
Oil liquid anti-shaking device of flexible linear tank based on fuzzy algorithm Download PDFInfo
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- CN212500102U CN212500102U CN202021811327.4U CN202021811327U CN212500102U CN 212500102 U CN212500102 U CN 212500102U CN 202021811327 U CN202021811327 U CN 202021811327U CN 212500102 U CN212500102 U CN 212500102U
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- 239000007788 liquid Substances 0.000 title description 10
- 210000001124 body fluid Anatomy 0.000 claims abstract description 5
- 239000010839 body fluid Substances 0.000 claims abstract description 5
- 238000007789 sealing Methods 0.000 claims description 14
- 230000002265 prevention Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000006872 improvement Effects 0.000 abstract description 4
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The utility model relates to an improvement of vehicle safety technique, concretely relates to flexible style of calligraphy jar body fluid anti-shake device based on fuzzy algorithm can be according to different speed of a motor vehicle, the different angle that turns to a flexible wave breaker of a style of calligraphy of automatically regulated, improves tank wagon's stability of heeling, including a jar body, still include a style of calligraphy wave breaker, a style of calligraphy wave breaker includes at least three floating plate, through hinge normal running fit between the adjacent floating plate, the edge of a style of calligraphy wave breaker is passed through the hawser and is connected with the pivot of motor, the bottom at the jar body is installed to the fuselage of motor.
Description
Technical Field
The utility model relates to an improvement of vehicle safety technique, concretely relates to flexible style of calligraphy jar body fluid anti-shake device based on fuzzy algorithm.
Background
When the tank truck turns, the inertia force of the vehicle can be increased by liquid impact in the tank, and the running stability of the vehicle is reduced. The impact generated by the liquid shaking can also damage the structure of the tank wall, the service life of the tank body is reduced, and the transportation cost is improved. Based on the harm that liquid was shaken and is brought, people developed some and prevented shaking the device, and these are prevented shaking the device and mostly are the rigidity and fix in jar body, can not change according to concrete operating mode that traveles, can not reduce the impact force that liquid was shaken and is brought to the at utmost. Research shows that the plate floating on the liquid can consume wave energy when moving, and compared with a fixed swash plate system, the floating system has better performance; there are currently fewer improvements in the prior art that address the above.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem who solves overcomes current defect, provides a flexible style of calligraphy jar body fluid prevents shaking device based on fuzzy algorithm, can improve tank wagon's the stability of heeling according to the angle of the flexible wave breaker of different speeds of a motor vehicle, the different condition of turning to a style of calligraphy of automatically regulated.
In order to solve the technical problem, the utility model provides a following technical scheme: the utility model provides a flexible style of calligraphy jar body fluid anti-shake device based on fuzzy algorithm, includes a jar body, still includes a style of calligraphy anti-wave device, a style of calligraphy anti-wave device includes at least three floating plate, through hinge normal running fit between the adjacent floating plate, and a style of calligraphy anti-wave device's edge is connected through the pivot of hawser with the motor, the bottom at the jar body is installed to the fuselage of motor.
Preferably, the cable is an elastic cable.
Preferably, the edge of the linear anti-wave device is connected with the rotating shaft of the motor through a cable, specifically, a mounting hole is formed in the floating plate, one end of the cable is connected with the mounting hole, and the other end of the cable is connected with a transmission shaft of the motor.
Preferably, the device also comprises a base and a locking block, and the motor is detachably connected with the tank body through the base.
Preferably, the detachable connection means that the base is fixedly connected with the tank body, and the motor is detachably connected with the base through the locking block.
Preferably, the motor further comprises a first sealing cover and a second sealing cover, wherein the first sealing cover and the second sealing cover are respectively arranged at two ends of the motor.
Preferably, a junction box is further arranged on the motor.
The utility model discloses beneficial effect: the utility model provides a floating type turnable wave-proof device based on a fuzzy algorithm flexible straight tank body oil liquid anti-shaking device, which has better anti-shaking performance compared with a fixed rigid wave-proof plate system; controlling the centroid slip angle and the yaw angular speed of the vehicle by a fuzzy algorithm; the turnover angle of the floating type wave-preventing plate can be dynamically adjusted according to different working conditions, so that the instability is reduced.
Drawings
Fig. 1 is a schematic model diagram of three degrees of freedom during the yaw movement of the tank truck according to the present invention;
FIG. 2 is a schematic model diagram of the side rolling motion of the tank truck during the yaw motion of the tank truck according to the present invention;
FIG. 3 is a schematic structural view of the tank of the present invention;
FIG. 4 is a front view of the in-line wave damper of the present invention;
FIG. 5 is a side view of the in-line wave arrestor of the present invention;
FIG. 6 is a schematic structural view of the linear wave-shielding device of the present invention;
fig. 7 is a schematic structural diagram of the motor of the present invention;
FIG. 8 is a force analysis diagram of the linear wave-preventing device according to the present invention during rotation;
FIG. 9 is a simplified diagram of the in-line wave damper of the present invention;
FIG. 10 is a control flow chart of the rollover prevention system of the tank truck of the present invention;
fig. 11 is a flow chart of the operation of the lower layer controller of the present invention;
fig. 12 is a membership function of the lower layer controller of the present invention.
Description of the drawings: 1. a tank body; 2. a floating plate; 3. a hinge; 4. a cable; 5. a motor; 6. a rotating shaft; 7. a first sealing cover; 8. a junction box; 9. a base; 10. a second sealing cover; 11. a locking block; 12. and (7) installing holes.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
A fuzzy algorithm-based flexible linear tank oil anti-shaking device comprises a tank body 1 and a linear anti-wave device, wherein the linear anti-wave device comprises at least three floating plates 2, adjacent floating plates 2 are in running fit through hinges 3, the edge of the linear anti-wave device is connected with a rotating shaft 6 of a motor 5 through a cable 4, and a body of the motor 5 is installed at the bottom of the tank body 1; the cable 4 is an elastic cable; the edge of the linear anti-wave device is connected with a rotating shaft of the motor 5 through a cable 4, specifically, a mounting hole 12 is arranged on the floating plate 2, one end of the cable 4 is connected with the mounting hole 12, and the other end of the cable is connected with a transmission shaft of the motor; the pot also comprises a base 9 and a locking block 11, as shown in figure 7, the motor 5 is detachably connected with the pot body 1 through the base 9; the detachable connection specifically means that the base 9 is fixedly connected with the tank body 1, and the motor 5 is detachably connected with the base 9 through a locking block 11; the motor is characterized by further comprising a first sealing cover 7 and a second sealing cover 10, wherein the first sealing cover 7 and the second sealing cover 10 are respectively arranged at two ends of the motor 5; and the motor 5 is also provided with a junction box 8.
A control algorithm of an oil anti-shaking device of a flexible straight-line tank body comprises the following steps:
step S1: determining a dynamic model of the semitrailer tank truck;
step S2: determining ideal yaw acceleration and a centroid slip angle;
step S3: upper layer fuzzy control;
the upper layer controller adopts a two-dimensional fuzzy controller with double input and single output, and the difference value of the yaw angular velocity and the centroid sideslip angle output by the vehicle ideal dynamic model and the actual vehicle yaw angular velocity and the centroid sideslip angle is omegar-ωr0、β-β0The output is the expected yaw moment as the input of the fuzzy controller;
step S4: the lower layer controller works;
the lower layer controller adopts fuzzy PID control, the additional yaw moment obtained by the fuzzy controller is converted into the overturning moment of the linear wave-proof plate, the cable tension calculator carries out analysis and calculation, then the fuzzy PID control is carried out, and the dynamic adjustment of the motor target moment is completed; the fuzzy control is divided into low-speed, medium-speed and high-speed fuzzy control, the linear wave prevention system is controlled according to working conditions, and the control result is fed back.
In specific implementation, the semitrailer tank truck dynamic model related to step S1 adopts a three-degree-of-freedom vehicle simplified model in consideration of lateral, yaw and roll motions of the entire truck. The yaw motion and the roll motion of the tank truck are shown in fig. 1 and 2.
Tractor equation of motion:
semitrailer equation of motion:
in the formula: m is1，m2-the quality of the tractor and the semitrailer respectively;
m1s，m2s-sprung masses of the tractor and the semitrailer, respectively;
Fi-the lateral force of the ith wheel, wherein i is 1, 2 and 3;
F4-the force of the semitrailer on the tractor;
I1xx，I2xxthe sprung mass side-tipping moment of inertia of the tractor and the semitrailer respectively;
I1zz，I2zzswing moment of inertia for tractor and semitrailer respectively；
u1，u2-respectively the driving speeds of the tractor and the semitrailer;
kr1，kr2-the roll stiffness of the tractor and the semitrailer, respectively;
c1，c2-damping of the roll angle of the tractor and the semitrailer, respectively;
k12-fifth wheel roll stiffness;
h1c，h2c-the height of the mass center of the tractor and the semitrailer respectively;
h1，h2the distances from the center of mass of the tractor and the semitrailer to the roll axes of the tractor and the semitrailer respectively;
Γ — hinge angle;
a, b and c are distances from the gravity center of the tractor to the front shaft, the rear shaft and the hinge point respectively;
d and e are distances from the center of gravity of the semitrailer to the rear axle and the front axle respectively.
The yaw rate ω and the centroid slip angle β related to step S2 are:
ω1ref＝ω2ref
β1ref＝β2ref
in the formula, the subscript 1ref represents a tractor and 2ref represents a trailer.
The fuzzy control input involved in the step S3 is the difference value between the yaw rate and the centroid slip angle output by the ideal dynamic model of the vehicle and the actual yaw rate and centroid slip angle of the vehicle, i.e., ωr-ωr0、β-β0The output is the desired yaw moment as an input to the fuzzy controller. The input and output variables of the fuzzy controller select 7 fuzzy variables and the likeThe level, i.e., { NB, NM, NS, ZO, PS, PM, PB }, has a quantization domain of [ -6, +6 [ ]]. The fuzzy controller membership function adopts a triangular membership function, and the table 1 shows fuzzy control rules.
TABLE 1 fuzzy control rules
The lower-layer controller related to the step S4 adopts a two-dimensional fuzzy controller with double inputs and single output, the input is a linear swash plate overturning moment M and a change rate thereof, the output is a moment adjusting coefficient x, and a membership function of the fuzzy input and the fuzzy output is shown in fig. 10. The fuzzy control rule carries out motor torque regulation in real time according to fuzzy input, and the control idea is as follows: if M is larger and d is largerMThe larger the motor torque is, the higher the motor torque is, the; whereas if M is smaller, dMAnd the smaller the torque is, the end of the steering transient process is indicated, and the adjustment quantity of the motor torque is reduced.
Referring to fig. 3 to 6, the linear anti-wave device is formed by connecting and splicing three linear floating plates 2 through hinges 3 and can be bent; the two ends of the linear wave-proof device are fastened on the tank body through ropes, and the ropes are elastic and can generate elastic resistance when liquid shakes. The motor is used as a power source for pulling the rope, the rope is divided into a left side and a right side, the ropes on one side are in a group, one motor pulls one group of ropes, and the rope tension difference can cause the flexible linear wave-proof plate to turn over; the two ends of the linear anti-wave device are tied to the tank body through cables, the cables are elastic, and elastic resistance can be generated when liquid shakes and the tank body can be bent.
As shown in FIG. 8, θ is the flip angle of the in-line type wave preventing device, ff,x,ff,yComponent forces of hydrodynamic force in the horizontal and vertical directions, MfIs the overturning moment.
As shown in figure 9, the linear wave-preventing device is restrained by 4 cables, the point A, B is driven by a motor, the point C, D is driven by a motor, and the two motors are arranged at the center of the bottom of the tank body in a staggered mode.
As shown in fig. 10, the anti-rollover control system is divided into an upper layer fuzzy control and a lower layer fuzzy PID control, the upper layer obtains an expected yaw moment according to a fuzzy controller corresponding to a yaw velocity difference value and a centroid yaw angle difference value, the lower layer adopts the fuzzy PID control, and the motor is controlled to rotate during the running process of the vehicle so as to enable the linear wave-proof plate to rotate for a certain angle, thereby generating a correction moment to change the running state of the vehicle and controlling the stability of the vehicle.
As shown in fig. 11, the upper layer controller introduces the yaw moment into the lower layer controller to convert the yaw moment into a linear wave-proof plate overturning moment, then the cable tension calculator carries out analysis and calculation, then the cable tension calculator enters fuzzy PID control, specifically comprises low-speed, medium-speed and high-speed fuzzy control, controls the floating wave-proof system according to working conditions, and feeds back a control result until an expected effect is achieved.
As shown in fig. 12, the lower layer controller adopts a two-dimensional fuzzy controller with double inputs and single output, the input is a linear swash plate overturning moment M and a change rate thereof, and the output is a moment adjusting coefficient x. The fuzzy control rule carries out motor torque regulation in real time according to fuzzy input, and the control idea is as follows: if M is larger and d is largerMThe larger the motor torque is, the higher the motor torque is, the; whereas if M is smaller, dMAnd the smaller the torque is, the end of the steering transient process is indicated, and the adjustment quantity of the motor torque is reduced.
The above is the preferred embodiment of the present invention, and the technical personnel in the field of the present invention can also change and modify the above embodiment, therefore, the present invention is not limited to the above specific embodiment, and any obvious improvement, replacement or modification made by the technical personnel in the field on the basis of the present invention all belong to the protection scope of the present invention.
Claims (7)
1. The utility model provides a flexible style of calligraphy jar body fluid anti-shake device based on fuzzy algorithm, includes jar body (1), its characterized in that: still include a style of calligraphy anti-wave device, a style of calligraphy anti-wave device includes at least three floating plate (2), through hinge (3) normal running fit between adjacent floating plate (2), the edge of a style of calligraphy anti-wave device is connected through pivot (6) of hawser (4) and motor (5), the bottom at jar body (1) is installed to the fuselage of motor (5).
2. The fuzzy algorithm-based flexible in-line tank oil sloshing prevention device according to claim 1, wherein: the cable (4) is an elastic cable.
3. The fuzzy algorithm-based flexible in-line tank oil sloshing prevention device according to claim 1, wherein: the edge of the linear anti-wave device is connected with a rotating shaft of a motor (5) through a cable (4), specifically, a mounting hole (12) is arranged on the floating plate (2), one end of the cable (4) is connected with the mounting hole (12), and the other end of the cable is connected with a transmission shaft of the motor.
4. The fuzzy algorithm-based flexible in-line tank oil sloshing prevention device according to claim 1, wherein: still include base (9) and locking piece (11), motor (5) pass through base (9) and jar body (1) detachable connection.
5. The fuzzy algorithm-based flexible in-line tank oil sloshing prevention device according to claim 4, wherein: the detachable connection specifically means that the base (9) is fixedly connected with the tank body (1), and the motor (5) is detachably connected with the base (9) through a locking block (11).
6. The fuzzy algorithm-based flexible in-line tank oil sloshing prevention device according to claim 1, wherein: the motor is characterized by further comprising a first sealing cover (7) and a second sealing cover (10), wherein the first sealing cover (7) and the second sealing cover (10) are respectively arranged at two ends of the motor (5).
7. The fuzzy algorithm-based flexible in-line tank oil sloshing prevention device according to claim 1, wherein: and a junction box (8) is also arranged on the motor (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021811327.4U CN212500102U (en) | 2020-08-26 | 2020-08-26 | Oil liquid anti-shaking device of flexible linear tank based on fuzzy algorithm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021811327.4U CN212500102U (en) | 2020-08-26 | 2020-08-26 | Oil liquid anti-shaking device of flexible linear tank based on fuzzy algorithm |
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| CN212500102U true CN212500102U (en) | 2021-02-09 |
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| CN202021811327.4U Expired - Fee Related CN212500102U (en) | 2020-08-26 | 2020-08-26 | Oil liquid anti-shaking device of flexible linear tank based on fuzzy algorithm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959379A (en) * | 2020-08-26 | 2020-11-20 | 江苏理工学院 | Oil liquid anti-shaking device of flexible straight-line tank based on fuzzy algorithm and control algorithm |
| CN114803192A (en) * | 2022-06-01 | 2022-07-29 | 长沙中联重科环境产业有限公司 | Self-adaptive opening and closing swash plate, tank truck and oscillation restraining method of tank truck |
-
2020
- 2020-08-26 CN CN202021811327.4U patent/CN212500102U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959379A (en) * | 2020-08-26 | 2020-11-20 | 江苏理工学院 | Oil liquid anti-shaking device of flexible straight-line tank based on fuzzy algorithm and control algorithm |
| CN111959379B (en) * | 2020-08-26 | 2023-09-22 | 江苏理工学院 | Flexible straight tank oil anti-sloshing device based on fuzzy algorithm and control algorithm |
| CN114803192A (en) * | 2022-06-01 | 2022-07-29 | 长沙中联重科环境产业有限公司 | Self-adaptive opening and closing swash plate, tank truck and oscillation restraining method of tank truck |
| CN114803192B (en) * | 2022-06-01 | 2023-09-08 | 长沙中联重科环境产业有限公司 | Self-adaptive opening and closing wave-proof plate, tank truck and oscillation suppression method thereof |
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Granted publication date: 20210209 |