带压作业装置举升电液伺服系统研究
发布时间：2018-08-13 14:48
【摘要】：举升机构是带压作业装置的关键部分,一般采用两路液压缸系统同步驱动,该液压系统的性能对整个带压作业装置至关重要。本课题针对带压作业装置中举升电液伺服系统进行分析研究。针对该液压系统长行程、外负载力大范围变化的特点,采用非对称阀控非对称缸,并建立了单路系统的非线性数学模型;在此基础上,考虑双路系统耦合的影响,建立了双路系统数学模型。针对带压作业装置液压举升系统要求在大范围内平稳运行的特点,本文对单路系统进行分析,采用基于微分几何的反馈线性化理论,将非线性系统转化为一个完全可控的线性系统,保留了系统高阶非线性项,实现了大范围线性化,并分析了其零动态的稳定性。对大范围线性化之后的可控系统,利用有界跟踪原理设计了控制器。由于负载干扰力对系统影响较大,设计了负载干扰力扰动观测器。不同工况下,对反馈线性化控制器与PID控制器进行仿真分析,结果表明系统工作在稳态点附近时,PID控制效果较好;当系统远离稳态点时,反馈线性化控制器效果较好。分析带压作业装置双路系统不同步因素,设计了主从方式、等同方式和交叉耦合式经典同步控制方案。不同工况下,采用反馈线性化控制器对单路系统进行控制,仿真比较3种同步方案的同步误差。结果表明交叉耦合方式的最大同步误差为2.6mm,等同式最大同步误差为3.3mm,主从方式的最大同步误差为20.3mm。因此系统选用交叉耦合式同步控制方式。利用x PC Target模块搭建单路系统和双路系统控制模型,通过实验验证带压作业装置举升电液伺服系统的控制方案。由于非对称阀控非对称缸的特性与对称阀控对称缸特性相似,因此在现有设备基础上,本实验采用对称阀控对称缸。实验结果进一步表明了单路系统采用反馈线性化控制是大范围有效的,同步控制采用交叉耦合方式时同步误差最小。
[Abstract]:The lifting mechanism is a key part of the pressure working device, which is usually driven synchronously by two hydraulic cylinder systems. The performance of the hydraulic system is very important to the whole pressure operation device. This paper analyzes and studies the lifting electro-hydraulic servo system in the working device with pressure. In view of the characteristics of the hydraulic system with long stroke and wide variation of the external load force, the asymmetric valve controlled asymmetric cylinder is adopted, and the nonlinear mathematical model of the single channel system is established, on the basis of which, the influence of the coupling of the two channels system is considered. The mathematical model of double path system is established. In view of the characteristic that the hydraulic lift system of the working device with pressure is required to run smoothly in a wide range, this paper analyzes the single-way system and adopts the feedback linearization theory based on differential geometry. The nonlinear system is transformed into a completely controllable linear system, which preserves the high order nonlinear term of the system, realizes the large-scale linearization, and analyzes the stability of its zero dynamics. The controller is designed by using the bounded tracking principle for the controllable system with large scale linearization. The disturbance observer of load disturbance force is designed because of the great influence of load disturbance force on the system. Under different operating conditions, the feedback linearization controller and PID controller are simulated and analyzed. The results show that the pid control effect is better when the system works near the steady point, and the feedback linearization controller is better when the system is far from the steady point. This paper analyzes the asynchronous factors of two-channel system with pressure operation device, and designs the master-slave mode, the equivalent mode and the cross-coupling classical synchronous control scheme. The feedback linearization controller is used to control the single channel system under different operating conditions, and the synchronization errors of the three synchronization schemes are compared by simulation. The results show that the maximum synchronization error of cross-coupling mode is 2.6 mm, that of equivalent mode is 3.3 mm, and that of master-slave mode is 20.3mm. Therefore, the system chooses cross-coupling synchronous control mode. The control model of single and double system is built by x PC Target module, and the control scheme of lifting electro-hydraulic servo system with pressure operation device is verified by experiment. Because the characteristic of asymmetric valve controlled asymmetric cylinder is similar to that of symmetrical valve controlled symmetric cylinder, the symmetrical valve controlled symmetrical cylinder is adopted in this experiment on the basis of existing equipment. The experimental results further show that the feedback linearization control is effective in a large range and the synchronization error is minimum when the synchronization control adopts the cross coupling mode.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TE93;TP271.31
本文编号：2181303
[Abstract]:The lifting mechanism is a key part of the pressure working device, which is usually driven synchronously by two hydraulic cylinder systems. The performance of the hydraulic system is very important to the whole pressure operation device. This paper analyzes and studies the lifting electro-hydraulic servo system in the working device with pressure. In view of the characteristics of the hydraulic system with long stroke and wide variation of the external load force, the asymmetric valve controlled asymmetric cylinder is adopted, and the nonlinear mathematical model of the single channel system is established, on the basis of which, the influence of the coupling of the two channels system is considered. The mathematical model of double path system is established. In view of the characteristic that the hydraulic lift system of the working device with pressure is required to run smoothly in a wide range, this paper analyzes the single-way system and adopts the feedback linearization theory based on differential geometry. The nonlinear system is transformed into a completely controllable linear system, which preserves the high order nonlinear term of the system, realizes the large-scale linearization, and analyzes the stability of its zero dynamics. The controller is designed by using the bounded tracking principle for the controllable system with large scale linearization. The disturbance observer of load disturbance force is designed because of the great influence of load disturbance force on the system. Under different operating conditions, the feedback linearization controller and PID controller are simulated and analyzed. The results show that the pid control effect is better when the system works near the steady point, and the feedback linearization controller is better when the system is far from the steady point. This paper analyzes the asynchronous factors of two-channel system with pressure operation device, and designs the master-slave mode, the equivalent mode and the cross-coupling classical synchronous control scheme. The feedback linearization controller is used to control the single channel system under different operating conditions, and the synchronization errors of the three synchronization schemes are compared by simulation. The results show that the maximum synchronization error of cross-coupling mode is 2.6 mm, that of equivalent mode is 3.3 mm, and that of master-slave mode is 20.3mm. Therefore, the system chooses cross-coupling synchronous control mode. The control model of single and double system is built by x PC Target module, and the control scheme of lifting electro-hydraulic servo system with pressure operation device is verified by experiment. Because the characteristic of asymmetric valve controlled asymmetric cylinder is similar to that of symmetrical valve controlled symmetric cylinder, the symmetrical valve controlled symmetrical cylinder is adopted in this experiment on the basis of existing equipment. The experimental results further show that the feedback linearization control is effective in a large range and the synchronization error is minimum when the synchronization control adopts the cross coupling mode.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TE93;TP271.31
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