高空作业车执行机构机电液一体化仿真分析

发布时间：2018-02-13 12:36

本文关键词： 高空作业车回转系统调平系统举升系统 AMESim Matlab　出处：《重庆交通大学》2012年硕士论文　论文类型：学位论文

【摘要】：本论文来源于重庆市科技攻关项目“高空作业车执行系统关键技术及应用”（CSTC2009AC6077）。通过分析高空作业车执行系统的特点，结合机电液一体化技术，智能控制技术，电液比例技术，分别对高空作业车执行机构各系统的机电液系统及控制系统作出分析和优化。主要从回转系统的设计与分析、调平系统的设计与分析、举升系统的设计与分析三个部分来描述。本论文主要完成了以下研究：（1）为了改善回转系统的稳定性及其动态特性，提出了缓冲阀和PID调节器综合控制的方法。建立了回转系统的数学模型和机电液控制系统的AMESim仿真模型。分析结果表明，系统稳定性较好；转动惯量的增大使得系统的稳定性有所改善，但延长了系统的响应时间；当系统中加入缓冲阀和PID调节器后，系统的稳定性和动态特性将得到明显的改善。（2）为了保证作业平台始终处于水平位置，提出了模糊-PID自适应控制的控制方法。建立了调平系统的数学模型和基于模糊-PID自适应控制的电液比例闭环控制系统的仿真模型。利用Matlab软件进行了仿真分析，分析结果表明，系统稳定性较好；当采用模糊-PID自适应控制时，不但反应速度快，而且不存在稳态误差。（3）为了改善举升系统的稳定性及其动态特性，提出了PID调节器的控制的方法。建立了举升系统的动力学分析数学模型和机电液控制系统的AMESim仿真模型。分析结果表明，系统稳定性较好；当系统中加入PID调节器后，系统的动态特性得到改善；各举升臂的举升速度稳定，不再出现振荡。这将使作业平台在举升时能够得到稳定的速度，而不发生抖动，更好的保证了作业人员的安全。（4）为了防止由于突发性液压或者控制系统故障造成的作业平台的突然翻转、危及作业人员的安全，，提出了具有锁紧功能的高空作业车实时调平控制系统。该系统不但可以减轻系统的负荷，通过机械锁紧的方式双重保护作业人员的安全，对保护作业人员的安全有着非常重要的意义。
[Abstract]:This paper comes from the key technology and application of aerial work vehicle execution system in Chongqing Science and Technology Project. By analyzing the characteristics of aerial work vehicle execution system, combining electromechanical and hydraulic integration technology, intelligent control technology, electro-hydraulic proportional technology, this paper analyzes the characteristics of aerial work vehicle execution system. This paper analyzes and optimizes the electromechanical and hydraulic system and control system of each system of aerial work vehicle, mainly describes the design and analysis of the rotary system, the design and analysis of the leveling system, and the design and analysis of the lifting system. This thesis mainly completed the following research:. 1) in order to improve the stability and dynamic characteristics of the rotary system, the integrated control method of the buffer valve and the PID regulator is proposed. The mathematical model of the rotary system and the AMESim simulation model of the electro-hydraulic control system are established. The analysis results show that, The stability of the system is improved with the increase of the moment of inertia, but the response time of the system is prolonged. When the buffer valve and PID regulator are added to the system, the stability and dynamic characteristics of the system will be improved obviously. In order to ensure that the operating platform is always in a horizontal position, The control method of fuzzy pid adaptive control is put forward, the mathematical model of leveling system and the simulation model of electro-hydraulic proportional closed loop control system based on fuzzy pid adaptive control are established. The simulation analysis is carried out by using Matlab software, and the results show that, The stability of the system is good, and the fuzzy pid adaptive control not only has fast reaction speed, but also has no steady-state error. In order to improve the stability and dynamic characteristics of lifting system, the control method of PID regulator is put forward. The mathematical model of dynamic analysis of lifting system and the AMESim simulation model of electromechanical hydraulic control system are established. The results show that, The stability of the system is good; the dynamic characteristics of the system are improved when the PID regulator is added to the system; the lifting speed of each lifting arm is stable and no longer oscillates. This will enable the operating platform to obtain a stable speed when lifting. Without jitter, better ensure the safety of the operator. (4) in order to prevent the sudden turnover of the operating platform caused by sudden hydraulic pressure or failure of the control system, thereby endangering the safety of the operator, A real time leveling control system for aerial work vehicle with locking function is put forward. The system can not only reduce the load of the system, but also protect the safety of the workers by means of mechanical locking. It is of great significance to protect the safety of operators.
【学位授予单位】：重庆交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH-39

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