单缸插销电液控制系统仿真分析研究

发布时间：2018-11-03 18:13

【摘要】：随着国内对中大型伸缩臂起重机的需求不断增加,作为其中关键技术之一的单缸插销式伸缩机构也越来越引起人们的重视。单缸插销式伸缩机构利用单个油缸往复运动实现各个臂节的伸缩动作,采用机电液讯多功能一体化控制技术从而实现伸缩臂的智能化精准控制。本论文是大连理工大学与福田雷萨起重机研究所合作的QY80汽车起重机单缸插销项目作为实例分析。论文是以单缸插销式伸缩臂伸缩系统分析及液压建模仿真技术为核心,目的在于通过对单缸插销系统设计的电气和液压部分控制研究,找出伸缩臂在伸缩过程中的影响因素,通过控制算法消除误差,并通过软件编程实现整个系统的动作控制。本论文的主要工作内容如下：(1)总结国内外主要的伸缩机构类型,分析其工作原理及优缺点。对选用的伸缩机构,研究其控制机理,进行详细设计和计算分析。(2)设计单缸插销伸缩机构的电气液压原理图,对关键元器件进行选型。(3)设计单缸插销伸缩系统伸缩动作液压控制回路,对电液比例系统进行理论建模,并进行稳定性分析。(4)采用AMESim软件对缸臂销插拔系统进行液压仿真,找出影响控制系统平稳性和响应快速性的影响因素。(5)选择一种智能控制算法—模糊PID控制算法,结合AMESim/Simulink对单缸插销伸缩系统进行联合仿真,比较加入控制算法后对系统的性能的影响。(6)研究单缸插销动作控制原理,设计控制系统手动自动伸缩控制流程图,使用CoDeSys软件编程,并进行模拟仿真分析。本文通过对缸臂销插拔系统液压仿真,找出了对插拔周期和系统稳定性的一些影响因素。同时建立单缸插销机构单缸伸缩环节的液压仿真模型,在控制系统中加入模糊PID控制算法,结合AMESim/Simulink进行了联合仿真分析,实现了对伸缩系统的精准控制的目的,并对以后的单缸插销式伸缩机构的控制设计工作起到一定的借鉴作用。
[Abstract]:With the increasing demand for medium and large telescopic jib cranes in China, the single cylinder pin telescopic mechanism, as one of the key technologies, has attracted more and more attention. Single cylinder pin telescopic mechanism uses single oil cylinder reciprocating motion to realize the telescopic movement of each arm segment, and adopts the electromechanical and hydraulic multi-function integrated control technology to realize the intelligent accurate control of the telescopic arm. This paper is a case study of QY80 single cylinder pin project of automobile crane, which is cooperated by Dalian University of Technology and Futian Ressa Crane Research Institute. This paper focuses on the analysis of the telescopic system of single cylinder pin telescopic arm and the hydraulic modeling and simulation technology. The purpose of this paper is to find out the influence factors of the telescopic arm in the process of expansion and expansion by studying the electrical and hydraulic part control of the design of the single cylinder plug pin system. The error is eliminated by the control algorithm, and the motion control of the whole system is realized by software programming. The main work of this paper is as follows: (1) summarize the main types of telescopic mechanism at home and abroad, analyze its working principle, advantages and disadvantages. The control mechanism of the selected telescopic mechanism is studied, and the detailed design and calculation analysis are carried out. (2) the electrical and hydraulic schematic diagram of the telescopic mechanism with single cylinder pin is designed, The key components are selected. (3) the hydraulic control circuit of the expansion and expansion system of the single cylinder pin is designed, and the theoretical modeling of the electro-hydraulic proportional system is carried out. And the stability is analyzed. (4) hydraulic simulation of cylinder arm pin plug and pull system is carried out by using AMESim software to find out the influence factors that affect the stability and response speed of control system. (5) choose a kind of intelligent control algorithm-Fuzzy PID control algorithm. Combined with AMESim/Simulink, the single cylinder pin expansion system is simulated, and the effect of the control algorithm on the performance of the system is compared. (6) the control principle of single cylinder pin is studied, and the manual automatic expansion control flow chart of the control system is designed. Using CoDeSys software programming, and simulation analysis. In this paper, the hydraulic simulation of cylinder arm pin insertion system is carried out to find out some factors that affect the insertion period and stability of the system. At the same time, the hydraulic simulation model of single cylinder expansion link of single cylinder pin mechanism is established, the fuzzy PID control algorithm is added to the control system, and combined with AMESim/Simulink, the purpose of precise control of the telescopic system is realized. It can be used for reference for the control design of single-cylinder pin-type telescopic mechanism in the future.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH213.6;TP273

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