基于模糊PID闭式液压系统双卷扬同步控制研究

发布时间：2018-04-10 02:11

本文选题：双卷扬　切入点：模糊PID　出处：《大连理工大学》2012年硕士论文

【摘要】：起重机是工程施工中常见的工程机械,随着石油、化工、电力等行业的大力建设,起重机越来越趋向于大吨位、超大吨位化,因此对吊载安全性的要求越来越高。为了提高吊载吨位,大吨位及超大吨位起重机的吊载系统已普遍采用双卷扬单钩吊载,这对双卷扬的同步性要求也越来越高,采用传统PID控制双卷扬同步已不能满足系统精度和动态性能要求,本文将模糊控制和PID控制相结合,使系统根据双卷扬出绳量偏差及偏差变化率,通过模糊规则语言自动调整PID参数,并用MATLAB和AMESim软件建立双卷扬系统的控制和液压模型,通过对模型联合仿真,验证了模糊PID控制方法对双卷扬同步控制系统具有较好的控制效果。本文的主要研究内容如下： (1)总结大吨位、超大吨位起重机双卷扬系统的特点和构成,设计了一个闭式液压试验平台,包括液压系统和电气系统的设计,外购元器件选型等。 (2)对闭式液压系统平台做稳定性分析。运用传递函数法建立闭式液压试验平台双卷扬同步控制系统的数学模型,并运用MATLAB绘制系统伯德图,运用时域分析法和频域分析法分析系统的稳定性和动态响应。 (3)设计模糊PID控制器。深入学习了模糊PID控制器及模糊PID参数整定规则,设计双卷扬同步控制系统的模糊PID控制器并在MATLAB的Fuzzy模块中实现,在MATLAB/Simulink中对系统进行仿真,并对模糊PID控制器和传统PID控制器的控制效果进行对比分析,证明模糊PID控制效果好于传统PID。 (4)电液联合仿真。通过MATLAB/Simulink和AMESim实现闭式液压试验平台双卷扬同步控制系统的电液联合仿真,在MATLAB/Simulink中建立了模糊控制控制器,在AMESim建立了液压系统,实现了联合仿真,结果表明,在双卷扬同步控制系统中相比传统PID而言,采用模糊PID控制策略能达到更好的控制效果。
[Abstract]:Crane is a common construction machinery in engineering construction. With the construction of petroleum, chemical, electric power and other industries, cranes tend to be more and more large tonnage and super-large tonnage, so the requirements for safety of hoisting are becoming higher and higher.In order to improve the lifting tonnage, the lifting system of large-tonnage and super-large tonnage cranes has generally adopted double hoisting and single hook hoisting, which requires more and more synchronicity of double hoisting.The traditional PID control for double hoist synchronization can not meet the requirements of system precision and dynamic performance. This paper combines fuzzy control and PID control to make the system based on the deviation and deviation rate of double hoisting rope.The parameters of PID are automatically adjusted by fuzzy rule language, and the control and hydraulic model of double winch system are established by MATLAB and AMESim software.It is verified that the fuzzy PID control method has good control effect on the double hoist synchronous control system.The main contents of this paper are as follows:This paper summarizes the characteristics and constitution of the double winch system of large-tonnage and super-large tonnage crane, and designs a closed hydraulic test platform, including the design of hydraulic system and electrical system, the type selection of purchased components and so on.The stability of the closed hydraulic system platform is analyzed.The mathematical model of the double hoisting synchronous control system of the closed hydraulic test platform is established by using the transfer function method. The stability and dynamic response of the system are analyzed by using the MATLAB drawing system and the time domain analysis and frequency domain analysis.The fuzzy PID controller is designed.The fuzzy PID controller and the fuzzy PID parameter tuning rule are studied in depth. The fuzzy PID controller of the double hoisting synchronous control system is designed and implemented in the Fuzzy module of MATLAB. The system is simulated in MATLAB/Simulink.The control effects of fuzzy PID controller and traditional PID controller are compared and analyzed. It is proved that the fuzzy PID controller is better than the traditional PID controller.4) Electro-hydraulic simulation.The electro-hydraulic simulation of the double hoisting synchronous control system on the closed hydraulic test platform is realized by MATLAB/Simulink and AMESim. The fuzzy control controller is established in MATLAB/Simulink, and the hydraulic system in AMESim is established, and the joint simulation is realized. The results show that,Compared with traditional PID, fuzzy PID control strategy can achieve better control effect in double winch synchronous control system.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH21

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