工程臂架液压驱动同步系统设计与控制策略

发布时间：2018-12-11 14:05

【摘要】：液压驱动同步系统是机电液一体化的一个重要分支。随着液压技术、现代机械加工、航天航空技术的发展和装备技术的提高,对同步的精确性要求越来越高,同步控制也越来越受关注。同时由于微机和自动化理论的迅速发展,具有与计算机直接接口、抗污染能力强、价格便宜的数字阀的出现。使得如何利用数字阀来实现液压驱动同步成为了热门的研究课题。本文在查阅大量国内外相关文献的基础上,以工程臂架为研究对象,设计了以高速开关阀为先导阀控制锥阀来实现大流量、高精度、高响应的双缸液压驱动同步回路。分析了其具体地工作原理,针对设计方案并结合工作条件,进行了液压驱动同步系统的元件选型、分析、计算和机电液集成模块的设计,并绘制其工程图和三维图。再根据同步回路的工作原理,运用空间状态变量理论,建立其相应的数学模型。基于数学模型利用MATLAB/simulink工具箱搭建仿真模型并进行仿真研究,以验证该方案的可行性。最后利用MATLAB/simulink工具箱搭建PID控制器、模糊控制器和模糊PID控制器对本同步系统进行控制,通过分析同步精度结果后选择最适合本同步系统的控制策略。上述研究对于利用数字阀来实现同步控制的研究与生产具有一定的参考价值和借鉴作用。
[Abstract]:Hydraulic drive synchronization system is an important branch of electrohydraulic integration. With the development of hydraulic technology, modern machining, aerospace and aeronautical technology and the improvement of equipment technology, the accuracy of synchronization is becoming more and more demanding, and synchronization control is paid more and more attention. At the same time, due to the rapid development of microcomputer and automation theory, the digital valve with direct interface with computer, strong anti-pollution ability and cheap price appeared. So how to use digital valves to achieve hydraulic drive synchronization has become a hot research topic. On the basis of consulting a large number of related literatures at home and abroad and taking the engineering boom as the research object, this paper designs a double cylinder hydraulic drive synchronous circuit with high flow rate, high precision and high response, using the high speed switch valve as the pilot valve to control the cone valve. According to the design scheme and working conditions, the components selection, analysis, calculation and electromechanical and hydraulic integration module design of the hydraulic drive synchronous system are carried out, and the engineering and 3D drawings are drawn. According to the working principle of synchronous loop, the corresponding mathematical model is established by using the theory of spatial state variable. Based on the mathematical model, the simulation model is built with MATLAB/simulink toolbox and the simulation research is carried out to verify the feasibility of the scheme. Finally, the PID controller, fuzzy controller and fuzzy PID controller are used to control the synchronization system by using the MATLAB/simulink toolbox. After analyzing the precision of synchronization, the most suitable control strategy for the synchronization system is selected. The above research has certain reference value and reference function for the research and production of synchronous control by using digital valve.
【学位授予单位】：湖南师范大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH137

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