桥梁主缆检查车两履带行走同步控制研究
发布时间：2019-01-28 09:20
【摘要】：悬索桥建成通车以后,缆索系统会随着时间的推移而渐渐损坏,主要是因为外部环境的改变以及日益繁重的交通,为此需要使用桥梁主缆检查车定期的对悬索桥的主缆系统进行检测与维护。桥梁主缆检查车在作业过程中,为了避免履带对主缆表面造成破坏,需要保证两履带较高的同步性能。双泵双马达同步控制系统的同步性能是影响桥梁主缆检查车的使用性能和工作效率的关键因素。为了解决两履带同步行驶困难的问题,本文在分析了实际情况之后,提出了双泵双马达同步控制的方案,以其中一个泵控马达系统为主动系统对另一个泵控马达系统进行控制。论文首先完成了两履带液压行走系统的设计,并根据实际需要,对系统的主要液压元件进行选型。然后对双泵双马达同步控制系统进行分析研究,建立主要元件的数学模型。最后在AMESim仿真软件中建立液压系统的仿真模型。通过AMESim仿真分析,对加入PID控制器和无PID控制器两种控制方案进行对比。仿真分析结果证明,PID控制器不但提高了泵控马达系统的动态性能而且减少了同步位移误差,起到良好的同步控制效果,满足了设计要求。
[Abstract]:After the suspension bridge is completed and opened to traffic, the cable system will gradually be damaged over time, mainly because of the changes in the external environment and the increasingly heavy traffic. Therefore, the main cable system of the suspension bridge should be inspected and maintained regularly by using the bridge main cable inspection vehicle. In order to avoid the damage caused by crawler on the surface of the main cable during the operation of the bridge main cable inspection vehicle, it is necessary to ensure the high synchronous performance of the two tracks. The synchronous performance of the dual pump and double motor synchronous control system is the key factor that affects the performance and working efficiency of the bridge main cable inspection vehicle. In order to solve the problem of two tracks running synchronously, this paper, after analyzing the actual situation, puts forward a scheme of double pump and double motor synchronous control, one of which is the active system to control the other pump control motor system. Firstly, the design of two-track hydraulic walking system is completed, and the main hydraulic components of the system are selected according to the actual needs. Then, the synchronous control system of two pumps and two motors is analyzed and studied, and the mathematical model of main components is established. Finally, the simulation model of hydraulic system is established in AMESim simulation software. Through the simulation analysis of AMESim, the control schemes of adding PID controller and no PID controller are compared. The simulation results show that the PID controller not only improves the dynamic performance of the pump control motor system, but also reduces the synchronous displacement error, plays a good synchronous control effect and meets the design requirements.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U445.7;U469.6
本文编号：2416927
[Abstract]:After the suspension bridge is completed and opened to traffic, the cable system will gradually be damaged over time, mainly because of the changes in the external environment and the increasingly heavy traffic. Therefore, the main cable system of the suspension bridge should be inspected and maintained regularly by using the bridge main cable inspection vehicle. In order to avoid the damage caused by crawler on the surface of the main cable during the operation of the bridge main cable inspection vehicle, it is necessary to ensure the high synchronous performance of the two tracks. The synchronous performance of the dual pump and double motor synchronous control system is the key factor that affects the performance and working efficiency of the bridge main cable inspection vehicle. In order to solve the problem of two tracks running synchronously, this paper, after analyzing the actual situation, puts forward a scheme of double pump and double motor synchronous control, one of which is the active system to control the other pump control motor system. Firstly, the design of two-track hydraulic walking system is completed, and the main hydraulic components of the system are selected according to the actual needs. Then, the synchronous control system of two pumps and two motors is analyzed and studied, and the mathematical model of main components is established. Finally, the simulation model of hydraulic system is established in AMESim simulation software. Through the simulation analysis of AMESim, the control schemes of adding PID controller and no PID controller are compared. The simulation results show that the PID controller not only improves the dynamic performance of the pump control motor system, but also reduces the synchronous displacement error, plays a good synchronous control effect and meets the design requirements.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U445.7;U469.6
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