基于闭环控制的压路机行走系统改进
发布时间：2018-11-20 21:08
【摘要】：为了探究闭环控制对于压路机行走速度稳定性的改善作用,采用理论分析与仿真相结合的方法对压路机行走系统进行了分析。根据压路机行走液压系统图及各液压元件的工作特性建立了传递函数模型,并据此推导出了控制电信号及行走负载分别与行走速度响应之间的传递函数关系。结合闭环比例、积分、微分(PID)控制特点对压路机行走系统传递函数模型进行了改进,得到了闭环PID控制下压路机行走系统传递函数模型。在理论推导的基础上,对某12t双钢轮压路机进行了行走试验,将仿真速度曲线与实际速度曲线进行时域及频域对比,并对现有模型进行了仿真分析,探究了闭环PID控制对行走系统特性的影响。研究结果表明:仿真模型能够很好地复现波动负载下压路机实际行走速度的变化规律,在加入PID闭环控制后,在保持速度平均值不变的基础上,压路机行走过程中的速度稳定性有所提升,系统阶跃响应中的超调和振荡现象得到了明显的抑制,稳定时间有所改善,系统的响应准确性更好;将闭环控制用于压路机行走系统中,能够有效地改善压路机平稳作业过程中的速度稳定性,提高压实作业质量。
[Abstract]:In order to explore the effect of closed-loop control on the stability of the roller's walking speed, the walking system of the roller was analyzed by combining theoretical analysis with simulation. The transfer function model is established according to the hydraulic system diagram of the roller and the working characteristics of the hydraulic components, and the transfer function relationship between the control electric signal and the walking load and the velocity response is deduced. The transfer function model of roller walking system is improved by combining the characteristics of closed loop ratio, integral and differential (PID) control, and the transfer function model of roller walking system under closed loop PID control is obtained. On the basis of theoretical derivation, the walking test of a 12t double-wheel roller is carried out. The simulation velocity curve is compared with the actual velocity curve in time domain and frequency domain, and the existing models are simulated and analyzed. The effect of closed loop PID control on the characteristics of walking system is investigated. The results show that the simulation model can well reproduce the variation law of the actual speed of the roller under fluctuating load. After adding the PID closed loop control, the average speed of the roller can be kept constant. The speed stability of the roller is improved, the overharmonic oscillation in the step response of the system is obviously restrained, the stabilization time is improved, and the response accuracy of the system is improved. The closed-loop control can effectively improve the speed stability and the quality of compaction operation in the roller walking system.
【作者单位】： 长安大学公路养护装备国家工程实验室;长安大学道路施工技术与装备教育部重点实验室;中国航空工业集团公司洛阳电光设备研究所;
【基金】：国家自然科学基金项目(51208044) 中央高校基本科研业务费专项资金项目(310825163408,310825171011) 中央高校教育教学改革专项资金项目(0012-310625170801)
【分类号】：U415.521
本文编号：2346032
[Abstract]:In order to explore the effect of closed-loop control on the stability of the roller's walking speed, the walking system of the roller was analyzed by combining theoretical analysis with simulation. The transfer function model is established according to the hydraulic system diagram of the roller and the working characteristics of the hydraulic components, and the transfer function relationship between the control electric signal and the walking load and the velocity response is deduced. The transfer function model of roller walking system is improved by combining the characteristics of closed loop ratio, integral and differential (PID) control, and the transfer function model of roller walking system under closed loop PID control is obtained. On the basis of theoretical derivation, the walking test of a 12t double-wheel roller is carried out. The simulation velocity curve is compared with the actual velocity curve in time domain and frequency domain, and the existing models are simulated and analyzed. The effect of closed loop PID control on the characteristics of walking system is investigated. The results show that the simulation model can well reproduce the variation law of the actual speed of the roller under fluctuating load. After adding the PID closed loop control, the average speed of the roller can be kept constant. The speed stability of the roller is improved, the overharmonic oscillation in the step response of the system is obviously restrained, the stabilization time is improved, and the response accuracy of the system is improved. The closed-loop control can effectively improve the speed stability and the quality of compaction operation in the roller walking system.
【作者单位】： 长安大学公路养护装备国家工程实验室;长安大学道路施工技术与装备教育部重点实验室;中国航空工业集团公司洛阳电光设备研究所;
【基金】：国家自然科学基金项目(51208044) 中央高校基本科研业务费专项资金项目(310825163408,310825171011) 中央高校教育教学改革专项资金项目(0012-310625170801)
【分类号】：U415.521
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