电解槽液压升降台位置控制特性研究
发布时间：2018-08-16 18:36
【摘要】：响应速度快,输出功率大,控制精度高是电液伺服系统最为突出的优点。因此,电液伺服系统被广泛的应用于各个领域。 根据电液伺服系统的优点,将其运用到实验室用电解铝反应升降台控制中。本文分别从结构和控制系统的特性对升降台进行了全面分析,在所分析出结果的基础上,对未达到系统稳定性能要求的特性进行了校正,使系统的整体性能有了很大的改善。 首先,分别从机械、电气和液压三个方面对升降台做了详细的设计。为了能够满足电解铝反应条件的要求,升降台采用三梁四柱的机械结构；系统的电气控制不仅保证了升降台动梁能够完成升降动作,还采用位移传感器反馈动梁位移,构成闭环反馈控制系统,可精确调节动梁的位置；液压系统作为升降台的动力机构,确保了系统的平稳运行。 其次,建立含有对称阀控非对称缸系统的数学模型。系统采用非对称液压缸,在建立数学模型时,针对不同运动形式进行了具体的理论分析；将相关方程线性化后,推导出不同运动形式的系统数学模型；对不同形式的数学模型进行深入的理论分析后,得出了统一的控制系统数学模型,在理论上为之后的系统特性分析做好了充分的准备。 再次,利用MATLAB对系统的特性进行具体分析。通过理论分析,确定了保证系统稳定性的参数取值范围,运用Simulink对分析结果进行仿真,验证了参数取值范围的正确性；推导出系统的闭环传递函数,并对闭环系统的响应特性以及刚度特性进行仿真分析；针对升降台系统高精度要求,分析了系统的稳态误差,所得结果未达到要求,故系统需要校正。 最后,分别采用串联滞后校正和PID调节器对系统进行校正,并进行比较。根据系统精度及稳定性要求,利用滞后校正改善系统精度,校正后虽保证了系统精度但减小了闭环系统带宽,系统响应速度有所降低；PID调节器相当于超前—滞后校正网络,在提高系统精度的基础上,还有效的增大了闭环系统带宽,系统的响应速度变快,系统的其他性能也有一定的改善,两者进行比较后系统采用PID调节器进行校正。
[Abstract]:High response speed, high output power and high control precision are the most outstanding advantages of electro-hydraulic servo system. Therefore, electro-hydraulic servo system is widely used in various fields. According to the advantages of electro-hydraulic servo system, it is applied to the control of electrolysis aluminum reaction elevator in laboratory. In this paper, the lifting platform is analyzed from the characteristics of the structure and the control system. On the basis of the analysis results, the characteristics which do not meet the requirements of the system stability are corrected, and the overall performance of the system is greatly improved. First of all, from the mechanical, electrical and hydraulic aspects of the lifting platform to do a detailed design. In order to meet the requirement of electrolytic aluminum reaction condition, the lifting platform adopts the mechanical structure of three beams and four columns, and the electrical control of the system not only ensures the lifting action of the lifting platform moving beam, but also uses the displacement sensor to feedback the displacement of the moving beam. The closed loop feedback control system can accurately adjust the position of the moving beam and the hydraulic system as the power mechanism of the lift platform ensures the smooth operation of the system. Secondly, the mathematical model of asymmetric cylinder system with symmetric valve control is established. The system adopts asymmetrical hydraulic cylinder, when establishing mathematical model, specific theoretical analysis is carried out for different motion forms, after linearization of relevant equations, the system mathematical model of different motion forms is deduced. After deep theoretical analysis of different forms of mathematical models, a unified mathematical model of control system is obtained, which is fully prepared for the analysis of later system characteristics in theory. Thirdly, the characteristics of the system are analyzed by MATLAB. Through theoretical analysis, the range of parameters to ensure the stability of the system is determined, the results of analysis are simulated by Simulink, and the correctness of the range of parameters is verified, and the closed-loop transfer function of the system is deduced. The response characteristics and stiffness characteristics of the closed-loop system are simulated and analyzed, and the steady-state error of the system is analyzed according to the high precision requirement of the elevator system. The results obtained do not meet the requirements, so the system needs to be corrected. Finally, series hysteresis correction and PID regulator are used to correct and compare the system. According to the requirement of system precision and stability, the system precision is improved by using hysteresis correction. After correction, the system precision is guaranteed but the closed-loop system bandwidth is reduced. The system response speed is reduced and the pid regulator is equivalent to the lead-lag correction network. On the basis of improving the precision of the system, the bandwidth of the closed-loop system is increased effectively, the response speed of the system becomes faster, and the other performance of the system is also improved. After comparing the two systems, the system adopts PID regulator to correct the system.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TG662;TH211.6
本文编号：2186836
[Abstract]:High response speed, high output power and high control precision are the most outstanding advantages of electro-hydraulic servo system. Therefore, electro-hydraulic servo system is widely used in various fields. According to the advantages of electro-hydraulic servo system, it is applied to the control of electrolysis aluminum reaction elevator in laboratory. In this paper, the lifting platform is analyzed from the characteristics of the structure and the control system. On the basis of the analysis results, the characteristics which do not meet the requirements of the system stability are corrected, and the overall performance of the system is greatly improved. First of all, from the mechanical, electrical and hydraulic aspects of the lifting platform to do a detailed design. In order to meet the requirement of electrolytic aluminum reaction condition, the lifting platform adopts the mechanical structure of three beams and four columns, and the electrical control of the system not only ensures the lifting action of the lifting platform moving beam, but also uses the displacement sensor to feedback the displacement of the moving beam. The closed loop feedback control system can accurately adjust the position of the moving beam and the hydraulic system as the power mechanism of the lift platform ensures the smooth operation of the system. Secondly, the mathematical model of asymmetric cylinder system with symmetric valve control is established. The system adopts asymmetrical hydraulic cylinder, when establishing mathematical model, specific theoretical analysis is carried out for different motion forms, after linearization of relevant equations, the system mathematical model of different motion forms is deduced. After deep theoretical analysis of different forms of mathematical models, a unified mathematical model of control system is obtained, which is fully prepared for the analysis of later system characteristics in theory. Thirdly, the characteristics of the system are analyzed by MATLAB. Through theoretical analysis, the range of parameters to ensure the stability of the system is determined, the results of analysis are simulated by Simulink, and the correctness of the range of parameters is verified, and the closed-loop transfer function of the system is deduced. The response characteristics and stiffness characteristics of the closed-loop system are simulated and analyzed, and the steady-state error of the system is analyzed according to the high precision requirement of the elevator system. The results obtained do not meet the requirements, so the system needs to be corrected. Finally, series hysteresis correction and PID regulator are used to correct and compare the system. According to the requirement of system precision and stability, the system precision is improved by using hysteresis correction. After correction, the system precision is guaranteed but the closed-loop system bandwidth is reduced. The system response speed is reduced and the pid regulator is equivalent to the lead-lag correction network. On the basis of improving the precision of the system, the bandwidth of the closed-loop system is increased effectively, the response speed of the system becomes faster, and the other performance of the system is also improved. After comparing the two systems, the system adopts PID regulator to correct the system.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TG662;TH211.6
【引证文献】
相关硕士学位论文 前2条
1 刘学;伺服液压缸试验台系统的分析与控制特性研究[D];沈阳工业大学;2013年
2 薛洪亮;液压马达型式试验台控制特性的分析与研究[D];沈阳工业大学;2013年
，本文编号：2186836
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