随着机电液一体化技术的不断发展，液压传动技术在装载机行驶驱动系统中的应用愈来愈多，大有取代传统传动形式的趋势。论文以西安科技大学研制的ZLY06型矿用防爆装载机为研究对象，针对其存在的一些问题，通过对静压传动形式和控制模式的分析研究及计算机模拟仿真，探讨了装载机静压行驶驱动系统设计的若干问题，包括液压系统合理的参数匹配、行驶驱动系统的控制形式与方法等。 主要研究内容包括以下四个方面：一是根据装载机作业的特点及行驶驱动系统的要求，设计了装载机静压行驶驱动系统。二是对液压系统进行了参数匹配和元件选型，并编写了静压行驶驱动系统的计算机辅助设计程序。三是建立了系统的数学模型并通过查阅资料确定了模型中参数的具体数值。四是用Ziegler-Nichols算法和Signal Constraint模块对PID参数作了整定，并设计了模糊自适应整定PID控制器。仿真试验结果表明，该控制器的性能远优于常规PID控制器，即使存在外界干扰和系统参数发生变化时，其也具有良好的动态响应特性，较强的抗干扰性和较强的鲁棒性。 论文通过对装载机静压行驶驱动系统的设计及控制算法的研究，形成了工程车辆液压传动与控制系统研究的一般性方法，为其它各种行走机械的液压行驶传动与控制系统的设计提供了一种思路和方法。

With the development of mechanical-electrical-hydraulic integration technology, more and more hydraulic transmission has been used in loader driving system, with a trend of replacing the traditional transmission forms. The study object of this paper is the mining anti-explosive ZLY06-loader that has been designed by Xi’an University of Science and Technology. According to some problems existing in the loader, through studying and analyzing on the hydrostatic transmission and control mode and computer simulation, discussing several problems on the design of loader hydrostatic transmission, including the reasonable parameters matching of hydraulic system, the control mode and method of the driving system and so on. The primary research contents of this paper including the four following aspects: Firstly, according to the characteristics of loader’s operation and the requirements of driving system, the hydrostatic driving system has been designed. Secondly, parameters matching and components alternative and computer aided design program have been completed. Thirdly, the mathematical model and numerical value of the parameters have been established. Fourthly, by using the Ziegler-Nichols algorithm and Signal Constraint module, the PID parameters have been tuned and the fuzzy self-adaptive PID controller has been designed. Simulation results show that the controller achieves better performance than classic one, and with better dynamic response, strong noninterference and robustness and fast response characteristic even in the circumstance of external disturbance and system parameters variations. By designing the hydrostatic driving system and studying the control algorithm of the loader, the universal method for studying on hydrostatic transmission and control modes of engineering vehicle have been developed, which have provided a kind of way of thinking and method for the design of other walk machinery.