全地面起重机双机构动作协同控制研究

发布时间：2018-03-13 20:04

本文选题：全地面起重机　切入点：协同控制　出处：《大连理工大学》2013年硕士论文　论文类型：学位论文

【摘要】：全地面起重机具有移动灵活、越野能力强、结构紧凑等优点,在现代大型工程建设中发挥了重要的作用。大吨位起重机的智能化水平不高,降低了起重机现场人员的安装效率,对现场工人的安装技术提出了更高的要求。大吨位全地面起重机臂架组合的多样性以及现场存在各种不确定因素,给塔臂工况下的主臂伸缩控制带来了挑战。为了减少危险工况带来的事故,提高全地面起重机的可靠性和作业安全性,一般施工现场对于塔臂工况下的主臂伸缩采用手动控制。这种控制方式降低了塔臂工况的安装效率,增加了人力物力的投入,对现场操作人员的素质要求较高。针对以上问题,本文应用MATLAB/Simulink软件建立主臂伸缩和塔臂变幅双机构动作协同控制的仿真模型,分析不同控制方法的仿真效果。本文的研究内容如下： (1)介绍了全地面起重机塔臂工况下整车的主要结构组成以及塔臂工况的起臂原理,分析了双机构动作协同控制方法。 (2)对主臂伸缩和塔臂变幅液压系统的控制模块进行推导,建立了控制模块的精确几何模型。根据塔臂工况下起重机的几何坐标关系,推导了不同的主臂长度和塔臂变幅长度对应的塔臂角度,以观察仿真效果。 (3)分析了不同的液压系统建模方法的特点,并应用传递函数法分别建立了主臂伸缩和塔臂变幅的液压系统传递函数模型,通过频域分析法分析了两个液压系统的系统稳定性。 (4)利用MATLAB/Simulink软件建立液压系统的仿真模型,运用时域分析法分析系统的动态响应特性。分别在主臂伸缩和塔臂变幅控制系统中加入定量顺馈补偿复合校正环节,以消除斜坡响应的系统稳态误差,提高系统的响应性能。 (5)分析影响系统控制精度的因素,比较并行控制和主从控制的仿真效果,并提出了交叉耦合PID控制方法。仿真结果表明,对于大吨位全地面起重机主臂伸缩与塔臂变幅系统的协同控制问题,应用主从控制和交叉耦合PID控制,能实现较好的控制效果。
[Abstract]:The all-ground crane has the advantages of flexible movement, strong cross-country ability, compact structure and so on. It plays an important role in modern large-scale engineering construction. The intelligent level of large-tonnage crane is not high, and the installation efficiency of crane field personnel is reduced. Higher requirements are put forward for the installation technology of field workers. The diversity of jib combinations of large-tonnage all-ground cranes and the existence of various uncertainties in the field, In order to reduce the accidents caused by dangerous working conditions, improve the reliability and safety of all ground cranes. In general, manual control is used to control the expansion of the main arm in the working condition of the tower arm. This control method reduces the installation efficiency of the tower arm, increases the input of manpower and material resources, and demands the quality of the operator on the spot. In view of the above problems, this paper uses MATLAB/Simulink software to establish the simulation model of the coordinated action control of the main arm extension and the tower arm variable amplitude dual mechanism, and analyzes the simulation effect of different control methods. The research contents of this paper are as follows:. This paper introduces the main structure of the whole vehicle under the condition of the tower arm of the all-ground crane and the working principle of the jib, and analyzes the method of the coordinated control of the two-mechanism action. 2) deducing the control module of the main arm telescopic and the hydraulic system with variable amplitude of the tower arm, establishing the precise geometric model of the control module, according to the geometric coordinate relation of the crane under the working condition of the tower arm, The angle of the tower arm corresponding to the length of the main arm and the variable amplitude of the tower arm is deduced to observe the simulation effect. (3) the characteristics of different modeling methods of hydraulic system are analyzed, and the transfer function models of hydraulic system are established by using transfer function method. The stability of the two hydraulic systems is analyzed by frequency domain analysis. The simulation model of hydraulic system is established by using MATLAB/Simulink software, and the dynamic response characteristic of the system is analyzed by using time domain analysis method. In order to eliminate the steady-state error of slope response and improve the response performance of the system. The simulation results of parallel control and master-slave control are compared, and a cross-coupled PID control method is proposed. The simulation results show that, The master slave control and cross coupling PID control can achieve better control effect for the cooperative control of the telescopic and the tower arm amplitudes of the large tonnage all-ground crane with the help of the master-slave control and cross-coupling PID control.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TH213

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