变载荷电液伺服控制技术研究

发布时间：2018-02-10 20:58

本文关键词： 低速大扭矩控制液压伺服系统 MATLAB/Simulink仿真 PID校正设计　出处：《西南交通大学》2011年硕士论文　论文类型：学位论文

【摘要】：低速大扭矩控制系统在现代社会生产生活占有着重要的地位,它被普遍的应用于工程以及矿山机械,军民重要建设设备,高载液压车床控制系统等场合之中。曾经,在这些系统中,简单的低速大扭矩液压马达,就可以很好的满足设计以及使用的需要。然而,随着现代社会的发展,针对各种极端工况,以及新的设计理念——更安全,更便捷,更环保等提出。低速大扭矩控制系统,现在也不仅是要实现运行速度调节的更快以及运转扭矩更大,还要求设备实现一定的远程控制,以及更高的控制精度。本文针对某公司变载荷电液伺服控制技术研究方案进行设计分析。研究在给定运动轨迹、位移曲线、载荷曲线、转动惯量曲线等边界条件下,驱动轴的运动特征和控制规律；研究并制定电液伺服驱动、定位的数字化控制方案；进行控制系统伺服模型建模和系统仿真；根据分析结果优化电液伺服系统设计方案,基于Rexroth公司液压手册确定关键元器件技术参数,拟定数字化控制算法,解决并验证驱动、定位控制等技术。本文的设计方法是：进行液压系统原理图设计；针对该公司所提供的技术资料进行分析,确定系统设计中最高的转矩,继而设计出所需要的液压马达排量、减速器、以及液压泵的型号,再选取所需要配套的电机,油液以及液压伺服阀等的型号；根据系统运行角速度选取位移传感器；选择交流变直流调解器。根据所选取的液压元器件型号,对液压伺服系统的反馈性能进行分析,计算出系统反馈元件参数,并最终得出液压伺服系统的动态反馈方程。依据液压系统的伺服控制模型,设计PLC控制系统图,针对所设计的PLC,进行PID校正设计。对液压伺服系统模型进行MATLAB/Simulink仿真,设计出系统的开环传递函数以及求出系统的稳态误差。再按照设计要求,进行PID校正设计,得出结论。
[Abstract]:Low speed and large torque control system plays an important role in modern society. It is widely used in engineering and mining machinery, military and civilian important construction equipment, high-load hydraulic lathe control system and other occasions. In these systems, simple low-speed and high-torque hydraulic motors can well meet the design and use needs. However, with the development of modern society, for various extreme conditions, and the new design concept-safer, more convenient, The low speed and large torque control system is not only to achieve faster speed adjustment and greater running torque, but also to achieve certain remote control and higher control precision. In this paper, the research scheme of variable load electro-hydraulic servo control technology for a certain company is designed and analyzed. The motion characteristics and control laws of the drive shaft are studied under the given boundary conditions, such as movement trajectory, displacement curve, load curve, moment of inertia curve, etc. Research and establish the digital control scheme of electro-hydraulic servo drive and positioning, model and simulation of servo model of control system, optimize the design scheme of electro-hydraulic servo system according to the analysis results, Based on the hydraulic manual of Rexroth Company, the technical parameters of key components are determined, the digital control algorithm is drawn up, and the technologies of driving and positioning control are solved and verified. The design method of this paper is to design the hydraulic system schematic diagram, to analyze the technical data provided by the company, to determine the highest torque in the system design, and then to design the required hydraulic motor displacement and reducer. And the type of hydraulic pump, and then select the necessary motor, oil and hydraulic servo valve model; according to the system running angular speed selection of displacement sensor; select AC variable DC regulator. According to the selected hydraulic components, the feedback performance of the hydraulic servo system is analyzed, the parameters of the feedback components are calculated, and the dynamic feedback equation of the hydraulic servo system is obtained. According to the servo control model of hydraulic system, the PLC control system diagram is designed, and the PID correction design is carried out for the designed PLC. The model of hydraulic servo system is simulated by MATLAB/Simulink, the open loop transfer function of the system and the steady-state error of the system are designed. According to the design requirements, the PID correction design is carried out and the conclusion is drawn.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH137

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