磨机换衬机械手液压系统控制与研究

发布时间：2018-04-13 17:14

本文选题：磨机换衬机械手 + 液压系统　；参考：《江西理工大学》2016年硕士论文

【摘要】：我国磨机换衬机械手发展起步较晚,与国外先进水平相比有较大差距,尤其是液压系统控制的精确性上。论文在基于国产JXS-3MX型磨机换衬机械手的基础上,设计了具有7自由度的磨机换衬机械手。机械部分是液压控制的前提,在主阀的选择上用电液比例阀代替了原有的手动阀,在泵控系统的设计上采用了LUDV控制方式。电液比例阀性能优良,可实现对液压执行元件的无级调速,这种调节方式使得液压系统对执行机构的控制更加精确。课题针对电液比例阀控制定量液压马达系统设计了基于模糊PID控制算法,仿真结果表明该控制器控制平稳,响应迅速,并且准确度高。LUDV形式的泵控系统控制精确度高,并且功率可调,几乎无浪费。目前电液比例控制技术已经较为成熟,相较于普通开关型控制阀,电液比例阀可实现对阀芯开度的比例调节；电液伺服阀随虽性能较好,但成本高,对油液清洁度要求苛刻。由于电液伺服阀系统是一个复杂系统,在不同情况下的传递函数形式不同,对其无法建立准确的数学模型,模糊控制PID算法很好的解决了这个问题。LUDV泵控系统性能优越,应用AMESim仿真软件,课题建立了主要元器件的仿真模型,并对液压系统进行了仿真分析。仿真结果表明：基于模糊PID算法控制的电液比例阀,控制精确响应迅速,准确,系统稳定；而基于LUDV控制的磨机换衬机械手泵控系统可实现液压系统的闭环控制,操作简便,精确度高。
[Abstract]:The development of mill lining manipulator in our country is late and there is a big gap compared with foreign advanced level, especially in the precision of hydraulic system control.In this paper, based on the domestic JXS-3MX mill lining manipulator, a 7 degree of freedom mill lining replacement manipulator is designed.The mechanical part is the premise of hydraulic control. The electro-hydraulic proportional valve is used to replace the original manual valve in the selection of the main valve, and the LUDV control mode is adopted in the design of the pump control system.The electro-hydraulic proportional valve has excellent performance and can realize stepless speed regulation of hydraulic actuator, which makes the hydraulic system control the actuator more accurately.A fuzzy PID control algorithm is designed for the electro-hydraulic proportional valve control quantitative hydraulic motor system. The simulation results show that the controller is stable, responsive and accurate, and the control accuracy of the pump control system in the form of 路LUDV is high.And the power can be adjusted, almost no waste.At present, the electro-hydraulic proportional control technology has been more mature. Compared with the conventional switch control valve, the electro-hydraulic proportional valve can realize the proportional adjustment of the valve core opening, and the electro-hydraulic servo valve has good performance, but the cost is high, and the requirement of oil cleanliness is harsh.Because the electro-hydraulic servo valve system is a complex system and the transfer function forms are different under different conditions, it is impossible to establish an accurate mathematical model for it. The fuzzy control PID algorithm solves this problem very well. The performance of the pump control system of Ludv is superior.In this paper, the simulation model of main components is established by using AMESim software, and the hydraulic system is simulated and analyzed.The simulation results show that the electro-hydraulic proportional valve based on fuzzy PID algorithm has the advantages of rapid accurate response, accurate control and stable system, while the pump control system of mill lining changing manipulator based on LUDV control can realize the closed loop control of hydraulic system, which is simple and easy to operate.High accuracy.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TD63

【相似文献】