混凝土泵车智能臂架系统振动抑制研究

发布时间：2018-03-04 21:38

本文选题：混凝土泵车　切入点：臂架　出处：《哈尔滨工业大学》2014年硕士论文　论文类型：学位论文

【摘要】：混凝土泵车是利用车载混凝土泵使混凝土沿着依附在泵车臂架上的管道输送至浇筑施工现场的特种工程设备。随着我国经济的快速发展,许多大型工程建设项目对混凝土泵车的需求迅速增长。混凝土泵车臂架的振动抑制问题,特别是在垂直方向上的振动抑制成为近几年混凝土机械领域中急需解决的问题。本文针对混凝土泵车臂架状态空间的建模问题,利用了一种基于臂架正则模态分析结果建立其在物理坐标空间中状态空间模型的方法,针对一款国产48米五节全液压式混凝土泵车臂架进行了分析,获得了其固有频率和振型,通过选择臂架上合适的主节点,得到了其降阶的状态空间模型。经过对比ANSYS和MATLAB中臂架动态响应分析的结果,验证了所建立泵车臂架状态空间模型的正确性。根据现代控制理论,对获得的臂架状态空间模型的可控性、能观性、稳定性、阶跃响应特性,以及在不同干扰下的振动响应等进行了分析。分别利用状态反馈控制和输入补偿控制设计了两种振动抑制控制器。前者采用主导二阶极点法,实现极点配置,提高系统阻尼,改善抗振特性;后者利用封闭承载腔中的压力波动作为臂架振动的检测,并通过对干扰输入进行部分抵消,减小输入到系统中的振动激励。通过仿真验证了这两种控制器均能对臂架的振动进行有效抑制。臂架振动的输入补偿控制中对各节臂液压缸的控制为独立控制,单液压缸控制系统为其基础。最后,以单个臂架液压缸的控制系统为研究对象,搭建了电液比例阀控制的臂架液压控制系统试验台。采用输入补偿控制策略,对单个臂架液压缸控制系统进行振动抑制仿真分析和试验研究,验证了所设计的控制器对单臂架液压缸控制系统的振动抑制具有较好的效果。
[Abstract]:The concrete pump car is a special engineering equipment which uses the on-board concrete pump to transport the concrete along the pipe attached to the arm frame of the pump car to the pouring construction site. With the rapid development of our country's economy, The demand for concrete pump cars is growing rapidly in many large engineering projects. In particular, vibration suppression in vertical direction has become an urgent problem in the field of concrete machinery in recent years. Based on the results of the regular modal analysis of the boom, a state space model in the physical coordinate space is established. The jib of a domestic 48-meter five-section fully hydraulic concrete pump vehicle is analyzed, and its natural frequency and mode shape are obtained. The reduced order state space model is obtained by selecting the appropriate primary node on the boom. The results of dynamic response analysis of the boom in ANSYS and MATLAB are compared. According to the modern control theory, the controllability, observability, stability and step response characteristics of the obtained state space model of the boom are verified. Two kinds of vibration suppression controllers are designed by using state feedback control and input compensation control respectively. The former adopts dominant second-order pole method to achieve pole assignment and improve system damping. The latter uses the pressure fluctuation in the closed bearing cavity as the detection of the boom vibration, and partially cancels the interference input. The simulation results show that the two controllers can effectively suppress the vibration of the boom. In the input compensation control of the vibration of the boom, the control of the hydraulic cylinder with each arm is independent control. The control system of single hydraulic cylinder is based on it. Finally, taking the control system of single boom hydraulic cylinder as the research object, the hydraulic control system test-bed of arm frame controlled by electro-hydraulic proportional valve is built, and the input compensation control strategy is adopted. Simulation analysis and experimental study on vibration suppression of single arm hydraulic cylinder control system are carried out, and it is verified that the designed controller has a good effect on vibration suppression of single arm hydraulic cylinder control system.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU646

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