多级液压缸四缸同步控制系统研究

发布时间：2018-02-14 17:12

  本文关键词： 多级液压缸 AMESim 同步控制 模糊-PID控制 联合仿真　出处：《太原科技大学》2012年硕士论文　论文类型：学位论文

【摘要】：重型工程机械中机、电、液一体化对多缸同步控制系统控制策略与仿真技术的研究非常重要。许多重型机械控制系统部件的加工精度以及外部干扰作用等因素，，使得多缸同步控制系统的精确同步遇到了极大的困难。研究如何在现有的生产条件，以确保多缸的同步控制，并提高同步精度是非常有研究意义的课题。 液压缸的同步控制一直是个难题，已经有很多的文献对它进行了相关的研究，并且也取得了不错的成绩，但其中大部分的文献都是关于单级缸，而多级缸比单级缸更加复杂，特别是多级缸换级时出现的液压冲击对多缸的同步升降控制影响非常大。因此，有关液压同步控制领域内的多级缸在各缸受力不同、偏载、变级时等各种工况下的同步控制研究是非常重要的。 本论文的主要研究对象是液压支架试验台平台升降系统。通过对升降液压系统的分析，找出影响系统同步性能的因素，对系统的同步性能进行研究。其具体内容如下： (1)通过分析支架试验台平台调高控制系统的工作状态和运动特性，以及负载和液压缸的受力分析，提出了运用电液比例技术对系统进行控制的设计思路，并且进一步推导出了电液比例阀以及多级液压缸等主要元件的数学模型，方便了我们对系统的了解。 (2)构建液压支架试验台平台升降系统的二级液压缸四缸同步升降的AMEsim模型，运用AMEsim软件对其进行仿真，并对其液压系统的性能进行分析。通过仿真分析在受力不同、偏载、变级时等各种工况下四个缸的变化情况，并根据仿真结果找出升降系统不同步的规律，从而找寻合适的方案进行优化。并验证改进方案的正确性。 (3)通过对模糊控制、PID控制以及模糊-PID控制的研究，最终使用模糊-PID控制策略对系统进行有效的控制。使用Simulink软件设计控制算法，在Simulink中设计模糊-PID控制器；利用AMESim与Simulink搭建联合仿真模型，对模糊-PID控制器在所建立的仿真模型中进行研究，从而证明控制器对系统性能的调节有着很大的作用，使系统的同步性更加稳定。 (4)总结全文的主要结论：二级液压缸变级时的缓冲效果得到更好的改善；液压支架试验台平台升降系统的同步精度更高；并对需要进一步深入研究的问题进行展望。 通过建立二级液压缸四缸同步控制系统模型，并使用AMESim软件进行仿真，得到了加速度、速度及位移差值，还考查到各环节对同步控制的影响，这些工作将为该试验台的进一步研发提供可靠的基础数据；从系统模型的仿真结果中可以看出，该系统模型能较好地模拟支架试验台升降系统的实际运行情况；利用联合仿真的方法可以有效地研究多级液压缸同步控制系统的动态特性；液压支架试验台升降系统仿真模型的建立为实际系统的性能分析与优化设计、控制算法的仿真验证、液压与机械系统的故障诊断提供了一定的参考。
[Abstract]:The integration of machine, electricity and liquid in heavy construction machinery is very important to the research of control strategy and simulation technology of multi-cylinder synchronous control system. It is very difficult to accurately synchronize the multi-cylinder synchronous control system. It is of great significance to study how to ensure the synchronization control of multi-cylinder in the existing production conditions and to improve the synchronization accuracy. The synchronous control of hydraulic cylinder is always a difficult problem. There have been a lot of literatures about it, and have made good achievements, but most of them are about single stage cylinder, and multistage cylinder is more complex than single stage cylinder. In particular, the impact of hydraulic impact on the synchronous lifting and lowering control of multi-cylinder is very great. Therefore, in the field of hydraulic synchronous control, the multi-stage cylinder has different forces on each cylinder, and the load is biased. It is very important to study the synchronous control under various working conditions, such as variable grade time. The main research object of this paper is the platform lifting system of hydraulic support test bench. Through the analysis of the lifting hydraulic system, the factors that affect the synchronization performance of the system are found out, and the synchronization performance of the system is studied. The specific contents are as follows:. 1) by analyzing the working state and motion characteristics of the height control system of the platform of the support test-bed, as well as the analysis of the load and the force of the hydraulic cylinder, the paper puts forward the design idea of using the electro-hydraulic proportional technology to control the system. The mathematical model of the main components such as electro-hydraulic proportional valve and multistage hydraulic cylinder is derived, which is convenient for us to understand the system. The AMEsim model of two-stage hydraulic cylinder four-cylinder synchronous lifting and lifting system of hydraulic support test-bed platform is constructed, and its hydraulic system is simulated by AMEsim software, and the performance of its hydraulic system is analyzed. Through the simulation analysis, the forces are different and the load is biased. The variation of four cylinders under various working conditions such as variable stage, and according to the simulation results to find out the law of the lifting system is out of sync, so as to find a suitable scheme for optimization, and verify the correctness of the improved scheme. 3) through the research of fuzzy control and fuzzy pid control, the fuzzy-PID control strategy is used to control the system effectively. The control algorithm is designed by Simulink software, and the fuzzy pid controller is designed in Simulink. Using AMESim and Simulink to build a joint simulation model, the fuzzy pid controller is studied in the simulation model, which proves that the controller plays a great role in regulating the system performance and makes the synchronization of the system more stable. The main conclusions of this paper are summarized as follows: the buffer effect of the two-stage hydraulic cylinder is improved better the synchronization accuracy of the lifting system of the hydraulic support test-bed platform is higher and the problems that need further research are prospected. Through the establishment of the two-stage hydraulic cylinder four-cylinder synchronous control system model and the simulation with AMESim software, the difference of acceleration, speed and displacement is obtained, and the influence of each link on the synchronous control is also investigated. These works will provide reliable basic data for the further research and development of the test bed, and from the simulation results of the system model, it can be seen that the system model can simulate the actual operation of the lifting system of the support test-bed. The dynamic characteristics of multi-stage hydraulic cylinder synchronous control system can be effectively studied by using the method of joint simulation, and the simulation model of the lifting system of hydraulic support test-bed is established for the performance analysis and optimization design of the actual system, and the simulation verification of the control algorithm. The fault diagnosis of hydraulic and mechanical system provides a certain reference.
【学位授予单位】：太原科技大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH137.51;TU603

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