泳池自动升降系统设计与控制研究

发布时间：2018-07-20 20:13

【摘要】：可升降泳池是一种带有活动台面并能够实现台面在一定的深度范围内位置可调的游泳池。泳池自动升降系统是可升降泳池的核心机构。在国外,泳池升降系统技术研究已比较成熟并广泛用于各类型游泳池中,而国内对泳池升降系统的研究和应用却很少。鉴于此,本文开发了一套适用于中大型游泳池的泳池自动升降系统,并对其运动、力学性能及系统控制进行了详尽研究。具体研究内容如下:(1)设计了一种水平丝杠传动剪叉支撑的泳池升降系统驱动机构,通过对其机构学和力学关系的研究对系统关键机构参数进行了分析优化,得到了最佳整体机构设计方案;并对其关键传动零部件进行了结构设计和参数校核。(2)基于虚位移原理对泳池自动升降系统进行了运动学分析,得到了系统运动规律;以刚体动力学相关理论为基础,研究了不同工况下泳池自动升降系统的运动学、动力学特性。研究表明,系统内部各支撑杆和丝杠螺旋副受力存在差异但整体平衡,台面匀速升降工况下,泳池自动升降系统运行更加平稳。最后,对泳池注满水工况下,泳池自动升降系统的运行状况进行了研究。研究结果表明,池水会对系统台面升降产生较大影响。(3)利用有限元分析方法重点对支撑杆进行了强度分析、屈曲分析和瞬态动力学分析,得到支撑杆静载和动载工况下的力学性能;对传动丝杠进行了强度分析和模态分析,得到传动丝杠强度、固有频率及振型。结果表明,所设计支撑杆和传动丝杠能够完全满足预设系统承载要求,并为系统运行和承载标准制定以及后续传动机构改进提供理论依据。(4)设计了泳池自动升降系统运动控制系统总体方案,重点对速度控制回路进行了研究分析。建立了变频器和异步电机控制系统数学模型,并运用ADAMS和Simulink软件对泳池自动升降系统运动控制进行了联合仿真,应用PID控制器建立了控制系统仿真模型。仿真结果表明,采用PID控制算法的速度控制回路,经过PID参数整定能够较好地实现泳池自动升降系统台面的匀速升降。
[Abstract]:The adjustable swimming pool is a swimming pool with movable table surface and can be adjusted within a certain depth range. The swimming pool automatic lifting system is the core mechanism of the swimming pool. In foreign countries, the technical research of swimming pool lift system has been mature and widely used in various types of swimming pool, but the domestic research and application of pool lift system is very few. In view of this, a swimming pool automatic lifting system suitable for medium and large swimming pool is developed, and its motion, mechanical properties and system control are studied in detail. The specific research contents are as follows: (1) A kind of driving mechanism of horizontal lead screw drive shear fork supporting swimming pool lifting system is designed, and the key mechanism parameters of the system are analyzed and optimized by studying the relationship between mechanism and mechanics. The optimal overall mechanism design scheme is obtained, and the structural design and parameter checking of the key transmission parts are carried out. (2) based on the virtual displacement principle, the kinematics analysis of the automatic lifting and lifting system of the swimming pool is carried out, and the system motion rule is obtained. Based on the theory of rigid body dynamics, the kinematics and dynamics characteristics of swimming pool automatic lifting system under different working conditions are studied. The study shows that there are differences in the forces between the supporting rods and the screw pairs of the screw in the system, but the overall balance exists, and the automatic lifting system of the swimming pool runs more smoothly under the condition of constant lift and lift of the table surface. Finally, the operation condition of the pool automatic lifting system under the condition of full water injection is studied. The results show that the pool water will have a great impact on the rise and fall of the system table. (3) the strength analysis, buckling analysis and transient dynamic analysis of the support rod are carried out by using the finite element analysis method. The strength analysis and modal analysis of the drive lead screw are carried out, and the strength, natural frequency and vibration mode of the drive lead screw are obtained. The results show that the designed support rod and drive lead screw can fully meet the loading requirements of the preset system. It also provides the theoretical basis for the system operation and bearing standard formulation and subsequent transmission mechanism improvement. (4) the overall scheme of the motion control system of the automatic lifting and lifting system of swimming pool is designed and the speed control loop is studied and analyzed emphatically. The mathematical model of inverter and asynchronous motor control system is established, and the motion control model of pool automatic lifting system is simulated by Adams and Simulink software. The simulation model of control system is established by using pid controller. The simulation results show that the speed control loop based on pid control algorithm can achieve the uniform speed rise and fall of the table surface of the automatic lifting system of the swimming pool after pid parameter tuning.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH211.6

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