重型舞台液压同步系统的智能控制研究
发布时间：2018-08-29 10:02
【摘要】：舞台设备广泛应用于各种体育馆、剧院等场所,它的性能直接影响舞台上的表演效果。实现舞台的升降有多种传动方式,最常见的是机械传动,但本文的控制对象为重型舞台,故本文采用基于模糊PID控制器的液压位置同步系统,以实现舞台在35~100mm/s的速度范围内能按照控制速度进行同步升降,且具有较高的控制精度和同步精度。本文对重型舞台液压同步系统进行了较为系统的探讨,包括舞台的升降机构、液压系统、同步控制策略及智能控制。论文主要内容如下:(1)介绍课题的研究背景,叙述国内外舞台技术的发展情况,阐述液压同步控制技术的研究意义、研究现状和发展趋势。(2)根据舞台的设计要求,对其升降系统进行总体设计。对3种舞台升降机构设计方案进行比较,确定采用可移动式剪叉机构,并计算该机构的相关参数,包括位置参数、速度参数及受力分析。分析计算结果,可知:采用该机构的舞台升降行程可达液压缸活塞杆行程的1.6倍,可实现快速升降的目的,且具有承载能力大和尺寸紧凑等特点。(3)根据舞台的设计要求,设计了采用比例调速阀控制流量的液压位置同步系统,并选择主从控制策略,以实现多液压缸的同步控制。(4)根据舞台面的最大负载和最大运动速度计算液压系统的主要参数,并对部分元件进行计算和选型,根据工作参数,建立液压系统主要元件的AMESim模型,并进行仿真,分析其特性,可知:比例调速阀的流量和输入电流成正比;液压锁具有良好的锁紧性能。在此基础上,建立单液压缸系统的仿真模型。(5)对开环单液压缸系统进行仿真,分析其在4种极限工况下的动、静态特性,可知:开环单液压缸系统的静差较大,定位精度差;对开环多液压缸系统进行仿真,分析多液压缸的同步性,针对不同步现象,选用主从控制策略以实现系统的同步运动。(6)采用PID控制器控制单液压缸系统,尽管最大超调量偏大,但其衰减快、振荡次数少,系统静差小,有很好的定位精度,提高了系统的定位精度和运行平稳性。(7)设计多变量模糊PID控制器,该控制器可根据舞台面的负载和同步误差进行参数的在线整定。在Matlab/Simulink中建立模糊PID控制器的模型。综合软件优势,通过AMESim/Simulink接口,实现液压系统和控制系统的联合仿真。仿真结果显示:与传统PID控制相比,采用模糊PID控制的主舞台面具有更好的动、静特性,且鲁棒性好;主从舞台面间最大位移差为14.9mm,各从舞台面间最大位移差为6.2mm,满足设计时同步误差|?|≤20mm的要求。
[Abstract]:Stage equipment is widely used in various gymnasiums, theatres and other places, its performance directly affects the performance of the stage. There are many transmission modes to realize the lifting and lowering of the stage, the most common is mechanical transmission, but the control object of this paper is heavy stage, so the hydraulic position synchronization system based on fuzzy PID controller is adopted in this paper. In order to realize the stage can synchronously rise and fall according to the control speed in the speed range of 35~100mm/s, and has higher control precision and synchronization precision. In this paper, the hydraulic synchronous system of heavy stage is discussed systematically, including the lifting mechanism, hydraulic system, synchronous control strategy and intelligent control. The main contents of the thesis are as follows: (1) introduce the research background of the subject, describe the development of stage technology at home and abroad, expound the research significance, research status and development trend of hydraulic synchronous control technology. (2) according to the stage design requirements, The overall design of the lifting system is carried out. In this paper, three design schemes of stage lifting mechanism are compared, the movable shear fork mechanism is adopted, and the relative parameters of the mechanism, including position parameter, velocity parameter and force analysis, are calculated. The analysis and calculation results show that the stage lifting stroke of the mechanism can reach 1.6 times of the piston rod stroke of the hydraulic cylinder, which can realize the purpose of rapid lifting, and has the characteristics of large bearing capacity and compact size. (3) according to the design requirements of the stage, The hydraulic position synchronization system using proportional speed regulating valve to control the flow rate is designed, and the master-slave control strategy is selected to realize the synchronous control of the multiple hydraulic cylinders. (4) the main parameters of the hydraulic system are calculated according to the maximum load and the maximum moving speed of the stage surface. According to the working parameters, the AMESim model of the main components of hydraulic system is established, and the simulation is carried out to analyze its characteristics. The results show that the flow rate of proportional speed regulating valve is proportional to the input current; Hydraulic lock has good locking performance. On this basis, the simulation model of the single hydraulic cylinder system is established. (5) the open loop single hydraulic cylinder system is simulated, and the dynamic and static characteristics of the open loop single hydraulic cylinder system under four kinds of limit conditions are analyzed. The results show that: the static error of the open loop single hydraulic cylinder system is large, and the positioning accuracy is poor; The open-loop multi-cylinder system is simulated, the synchronism of the multi-cylinder is analyzed, and the master-slave control strategy is selected to realize the synchronous motion of the system. (6) the PID controller is used to control the single-cylinder system, although the maximum overshoot is too large. But its attenuation is fast, the frequency of oscillation is less, the static difference of the system is small, the positioning accuracy of the system is very good, the positioning accuracy and the running stability of the system are improved. (7) the multivariable fuzzy PID controller is designed. The controller can adjust the parameters on line according to the load and synchronization error of the stage surface. The model of fuzzy PID controller is established in Matlab/Simulink. Combined simulation of hydraulic system and control system is realized through AMESim/Simulink interface. The simulation results show that compared with the traditional PID control, the main stage mask with fuzzy PID control has better dynamic and static characteristics and better robustness. The maximum displacement difference between the master and slave stage is 14.9mm, and the maximum displacement difference between each stage is 6.2mm, which meets the requirement of synchronous error? 鈮，
本文编号：2210869
[Abstract]:Stage equipment is widely used in various gymnasiums, theatres and other places, its performance directly affects the performance of the stage. There are many transmission modes to realize the lifting and lowering of the stage, the most common is mechanical transmission, but the control object of this paper is heavy stage, so the hydraulic position synchronization system based on fuzzy PID controller is adopted in this paper. In order to realize the stage can synchronously rise and fall according to the control speed in the speed range of 35~100mm/s, and has higher control precision and synchronization precision. In this paper, the hydraulic synchronous system of heavy stage is discussed systematically, including the lifting mechanism, hydraulic system, synchronous control strategy and intelligent control. The main contents of the thesis are as follows: (1) introduce the research background of the subject, describe the development of stage technology at home and abroad, expound the research significance, research status and development trend of hydraulic synchronous control technology. (2) according to the stage design requirements, The overall design of the lifting system is carried out. In this paper, three design schemes of stage lifting mechanism are compared, the movable shear fork mechanism is adopted, and the relative parameters of the mechanism, including position parameter, velocity parameter and force analysis, are calculated. The analysis and calculation results show that the stage lifting stroke of the mechanism can reach 1.6 times of the piston rod stroke of the hydraulic cylinder, which can realize the purpose of rapid lifting, and has the characteristics of large bearing capacity and compact size. (3) according to the design requirements of the stage, The hydraulic position synchronization system using proportional speed regulating valve to control the flow rate is designed, and the master-slave control strategy is selected to realize the synchronous control of the multiple hydraulic cylinders. (4) the main parameters of the hydraulic system are calculated according to the maximum load and the maximum moving speed of the stage surface. According to the working parameters, the AMESim model of the main components of hydraulic system is established, and the simulation is carried out to analyze its characteristics. The results show that the flow rate of proportional speed regulating valve is proportional to the input current; Hydraulic lock has good locking performance. On this basis, the simulation model of the single hydraulic cylinder system is established. (5) the open loop single hydraulic cylinder system is simulated, and the dynamic and static characteristics of the open loop single hydraulic cylinder system under four kinds of limit conditions are analyzed. The results show that: the static error of the open loop single hydraulic cylinder system is large, and the positioning accuracy is poor; The open-loop multi-cylinder system is simulated, the synchronism of the multi-cylinder is analyzed, and the master-slave control strategy is selected to realize the synchronous motion of the system. (6) the PID controller is used to control the single-cylinder system, although the maximum overshoot is too large. But its attenuation is fast, the frequency of oscillation is less, the static difference of the system is small, the positioning accuracy of the system is very good, the positioning accuracy and the running stability of the system are improved. (7) the multivariable fuzzy PID controller is designed. The controller can adjust the parameters on line according to the load and synchronization error of the stage surface. The model of fuzzy PID controller is established in Matlab/Simulink. Combined simulation of hydraulic system and control system is realized through AMESim/Simulink interface. The simulation results show that compared with the traditional PID control, the main stage mask with fuzzy PID control has better dynamic and static characteristics and better robustness. The maximum displacement difference between the master and slave stage is 14.9mm, and the maximum displacement difference between each stage is 6.2mm, which meets the requirement of synchronous error? 鈮，
本文编号：2210869
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