基于模糊自整定PID算法的精锻机夹头控制研究

发布时间：2018-05-11 15:45

本文选题：精锻机夹头 + 电液位置伺服系统　；参考：《太原科技大学》2013年硕士论文

【摘要】：精锻机的研制有着重要的科研价值与经济意义，作为GFM的专有技术，卧式精锻机的价格不菲，但作为目前轴类锻造的最优方案，国内很多锻压厂对精锻机的需求量很大。虽要完整研发一台具有自主知识产权的精锻机，我们还有很长的路要走，但退一步讲，对精锻机的研究可以使我们更好地利用现有的进口设备，节省一大笔维修费用。夹头作为精锻机主要的辅助设备之一，它主要是在锻打过程中，完成对坯料夹持、旋转、随动轴向进给等动作。本文研究的内容是夹头的旋转动作。从原理上分析，夹头的旋转机构实质上是一种电液伺服位置控制系统，电液伺服控制系统作为液压学科的重要分支，近年来在军事、航天、锻压等领域越来越受到重视。电液位置伺服系统是一种典型的非线性系统，在实际运用中，由于环境的因素，系统参数会发生改变进而影响控制品质。所以如何使控制算法更加智能，跟随外界环境的变换来改变控制策略，从而作出应对，这是我们研究的重点课题。传统的PID控制器实现起来比较容易，但对于非线性的控制对象，其往往不能同时满足精度与速度两方面的控制要求。模糊控制的兴起使我们对复杂的非线性系统有了新的解决方案，它属于智能控制的分支，通过借助在一线操作人员的实际经验来建立专家控制规则，以应对外部环境变换引起的系统特性整定问题。但模糊算法的控制精度不高，这在很大程度上制约了它的发展。本文采用了模糊自整定PID控制算法，集合了两者优点，可以达到较好的控制效果。 AMESim是优秀的液压建模软件，可以较好地完成液压系统的建模，同时它具有同Simulink的接口，可以使我们利用后者强大的运算能力来对液压系统进行仿真，效果比单纯利用Simulink来仿真更精确。究其原因主要是在Simulink中我们要根据控制对象进行各种简化近似处理，从而得到传递函数作为仿真系统的控制对象，这无形中加大了系统仿真的误差；而AMESim则是直接在相应的液压模型中输入相关参数来生成控制对象，对液压系统的描述更加准确、完整，所以结果更具说服力。仿真结果表明，，运用模糊自整定PID控制器时，精锻机夹头的旋转系统控制效果良好，可以满足夹头在高频旋转时的技术要求。
[Abstract]:The development of precision forging machine has important scientific research value and economic significance. As a proprietary technology of GFM, horizontal precision forging machine is expensive. However, as the best scheme of shaft forging at present, many domestic forging plants have a great demand for precision forging machine. Although we still have a long way to go to develop a precision forging machine with independent intellectual property rights, the research on precision forging machine can make better use of existing imported equipment and save a lot of maintenance costs. As one of the main auxiliary equipments of precision forging machine, the chuck is mainly used to clamp, rotate and follow the axial feed during forging. The content of this paper is the rotating action of the chuck. In principle, the rotating mechanism of the chuck is essentially an electro-hydraulic servo position control system. As an important branch of hydraulic science, electro-hydraulic servo control system has been paid more and more attention in military, aerospace, forging and other fields in recent years. Electro-hydraulic position servo system is a kind of typical nonlinear system. In practical application, the system parameters will change because of the environmental factors, and then affect the control quality. Therefore, how to make the control algorithm more intelligent, follow the transformation of the external environment to change the control strategy, so as to make a response, this is the focus of our research. The traditional PID controller is easy to implement, but for the nonlinear control object, it can not meet the control requirements of both precision and speed at the same time. The rise of fuzzy control gives us a new solution to complex nonlinear systems. It belongs to the branch of intelligent control. In order to deal with the external environment change caused by the system characteristics tuning problem. However, the control accuracy of fuzzy algorithm is not high, which restricts its development to a great extent. In this paper, fuzzy self-tuning PID control algorithm is adopted, which combines the advantages of both, and can achieve better control effect. AMESim is an excellent software for hydraulic modeling, which can model hydraulic system well. At the same time, it has the interface with Simulink, which enables us to make use of the powerful computing ability of the latter to simulate the hydraulic system. The effect is more accurate than using Simulink alone. The main reason is that in Simulink we have to do a variety of simplified approximate processing according to the control object, so as to get the transfer function as the control object of the simulation system, which increases the error of the system simulation. The AMESim directly inputted the relevant parameters in the corresponding hydraulic model to generate the control object, the description of the hydraulic system is more accurate and complete, so the results are more persuasive. The simulation results show that the rotating system of the chuck of the precision forging machine has a good control effect when the fuzzy self-tuning PID controller is used, and it can meet the technical requirements of the chuck in the high frequency rotation.
【学位授予单位】：太原科技大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TP273;TG315

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