核用桥式起重机精度控制研究
发布时间：2019-06-11 23:23
【摘要】：处理核废料时,穿着辐射防护服的专业人员通过手动操作桥式起重机实现核废料固化桶的转运。各类辐射等级的核废料均具有辐射危害,对工作人员的健康安全产生不利影响,且会降低作业效率。在工程应用中,桥式起重机使用范围较为广泛,起重机的设计研究主要沿智能化、无人值守方向发展,但目前大多数起重机自动化运行程度较低,控制精度低,运行不平稳。研究核用桥式起重机的智能化控制系统,可实现核废料转运作业的无人值守,而桥式起重机大车、小车的精度控制系统是智能控制系统的关键。主要研究工作如下:1.以桥式起重机桥架的主梁为研究对象,基于ANSYS的APDL语言对主梁进行参数化建模。由于主梁结构和载荷复杂以及作业环境较差,建模时合理简化主梁内部结构以及所受载荷,同时也能提高计算效率。分析桥式起重机满载情况下小车处于主梁跨中处所受应力、应变以及挠曲变形,验证设计的可行性和有效性。分析研究主梁的变形位移,为控制系统精度的研究作铺垫。2.研究桥式起重机大车、小车纠偏与精度控制,主要对核用桥式起重机实现核废料桶的全自动化转运,进行实时纠偏策略的研究。以大车运行机构为例,提出了一种以控制策略为主、结构优化为辅的纠偏控制策略,实现大车运行机构的纠偏,从而提高运行机构的精度;结合核用桥式起重机的多工况验收测试,验证了纠偏控制策略的可行性。3.以转运核废料的桥式起重机的伺服系统为对象,研究核用桥式起重机模糊自适应控制。通过对传统PID控制算法、模糊控制算法、模糊PID控制算法等相关智能控制算法的研究,优化核用桥式起重机的复合模糊自适应控制系统,改善控制系统的平稳性、调节时间以及抗干扰能力,并结合模拟仿真实验进行验证。
[Abstract]:When dealing with nuclear waste, professionals wearing radiation protective clothing transfer the solidified bucket of nuclear waste by manually operating bridge crane. All kinds of radiation grades of nuclear waste have radiation hazards, which have a negative impact on the health and safety of staff, and will reduce the efficiency of the operation. In engineering application, bridge crane is widely used, and the design and research of crane mainly develops along the direction of intelligence and unattended, but at present, most cranes have low automatic operation degree, low control precision and unstable operation. The research on the intelligent control system of nuclear bridge crane can realize the unattended nuclear waste transfer operation, and the precision control system of bridge crane truck and trolley is the key of intelligent control system. The main research work is as follows: 1. Taking the main beam of bridge crane bridge as the research object, the parametric modeling of the main beam is carried out based on APDL language of ANSYS. Because of the complex structure and load of the main beam and the poor working environment, the internal structure and load of the main beam can be reasonably simplified, and the calculation efficiency can be improved at the same time. Under the condition of full load of bridge crane, the stress, strain and deflection of the trolley in the middle of the main beam span are analyzed, and the feasibility and effectiveness of the design are verified. The deformation and displacement of the main beam are analyzed and studied, which paves the way for the study of the accuracy of the control system. 2. This paper studies the deviation correction and precision control of bridge crane cart and trolley, and mainly studies the real-time deviation correction strategy of nuclear waste bucket transportation realized by nuclear bridge crane. Taking the large vehicle operation mechanism as an example, this paper puts forward a deviation correction control strategy with the control strategy as the main and the structure optimization as the auxiliary, so as to realize the deviation correction of the vehicle operation mechanism, so as to improve the accuracy of the operation mechanism. Combined with the multi-working condition acceptance test of the nuclear bridge crane, the feasibility of the deviation correction control strategy is verified. Taking the servo system of bridge crane which transports nuclear waste as the object, the fuzzy adaptive control of nuclear bridge crane is studied. Through the research of traditional PID control algorithm, fuzzy PID control algorithm and other related intelligent control algorithms, the compound fuzzy adaptive control system of nuclear bridge crane is optimized, and the stability, adjustment time and anti-interference ability of the control system are improved, and verified by simulation experiments.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH21
本文编号：2497542
[Abstract]:When dealing with nuclear waste, professionals wearing radiation protective clothing transfer the solidified bucket of nuclear waste by manually operating bridge crane. All kinds of radiation grades of nuclear waste have radiation hazards, which have a negative impact on the health and safety of staff, and will reduce the efficiency of the operation. In engineering application, bridge crane is widely used, and the design and research of crane mainly develops along the direction of intelligence and unattended, but at present, most cranes have low automatic operation degree, low control precision and unstable operation. The research on the intelligent control system of nuclear bridge crane can realize the unattended nuclear waste transfer operation, and the precision control system of bridge crane truck and trolley is the key of intelligent control system. The main research work is as follows: 1. Taking the main beam of bridge crane bridge as the research object, the parametric modeling of the main beam is carried out based on APDL language of ANSYS. Because of the complex structure and load of the main beam and the poor working environment, the internal structure and load of the main beam can be reasonably simplified, and the calculation efficiency can be improved at the same time. Under the condition of full load of bridge crane, the stress, strain and deflection of the trolley in the middle of the main beam span are analyzed, and the feasibility and effectiveness of the design are verified. The deformation and displacement of the main beam are analyzed and studied, which paves the way for the study of the accuracy of the control system. 2. This paper studies the deviation correction and precision control of bridge crane cart and trolley, and mainly studies the real-time deviation correction strategy of nuclear waste bucket transportation realized by nuclear bridge crane. Taking the large vehicle operation mechanism as an example, this paper puts forward a deviation correction control strategy with the control strategy as the main and the structure optimization as the auxiliary, so as to realize the deviation correction of the vehicle operation mechanism, so as to improve the accuracy of the operation mechanism. Combined with the multi-working condition acceptance test of the nuclear bridge crane, the feasibility of the deviation correction control strategy is verified. Taking the servo system of bridge crane which transports nuclear waste as the object, the fuzzy adaptive control of nuclear bridge crane is studied. Through the research of traditional PID control algorithm, fuzzy PID control algorithm and other related intelligent control algorithms, the compound fuzzy adaptive control system of nuclear bridge crane is optimized, and the stability, adjustment time and anti-interference ability of the control system are improved, and verified by simulation experiments.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH21
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