智能型液压侧翻设备控制系统研究

发布时间：2018-01-29 06:55

本文关键词： 侧翻设备智能可移动 PID控制 MATLAB仿真　出处：《安徽工程大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着煤炭、化工和农业等产业的快速发展,人们对交通运输工具的安全及卸货效率提出了更高的要求。目前市场上的自卸车在卸载大重量货物的过程中出现了卸载效率低,容易倾覆且输出功率不够的情况。市场上现有的液压翻板卸车机能够实现自卸车的辅助卸货,但是存在卸载地点固定的缺陷以及倾斜角度过大易倾覆的安全问题。本课题旨在设计一款智能型液压侧翻卸车设备,该设备创新性地结合了自卸车的可移动性与液压翻板卸车机的大功率特点,该设备安装有万向轮升降系统实现设备的可移动,旋转支架和档板等装置的安装有效防止在卸车过程中发生设备侧滑与货车倾覆;采用同步阀实现侧翻过程中三缸同举,并采用力伺服液压控制系统,能够对不同质量负载实现对应的负载力输出。本论文拟定适合智能型液压侧翻设备的总体方案,依据货车的规格尺寸和载重量确定侧翻设备的设计参数,对侧翻设备各个子机构进行创新性设计,实现设备的可移动、大功率输出以及高效智能侧翻,并能防止在卸车过程中发生设备侧滑与货车倾覆;对侧翻设备的稳定性研究,验证了货车倾斜至极限角度时不会发生倾覆事故,保证卸车过程的安全性;根据结构方案设计出以力伺服阀为核心的液压控制系统,绘制出侧翻设备控制系统的液压控制系统原理图,依据设计参数对各液压元件进行选型,完成管道压力损失验算和温升校核,并利用AMESIM软件对液压系统进行仿真,进一步验证液压控制系统原理图的合理性;建立侧翻设备控制系统的数学模型,得到控制系统的传递函数并推导出状态方程;根据力伺服阀参数计算得到传递函数的所有参数值,利用传递函数在MATLAB软件中进行仿真,输出控制系统的伯德图和奈奎斯特曲线,利用频率法和李亚谱诺夫稳定性分析确定控制系统稳定,对系统的能控性和能观性分析,确定控制系统完全能控能观,并采用极点配置法优化侧翻设备控制系统,提升其性能指标;利用工程经验法确定PID控制器的参数,从而减小控制系统的稳态误差,进一步提高侧翻设备控制系统的性能。后期将根据控制系统的参数和仿真结果对样机进行验证性实验,验证结构方案和控制方案的可行性,并最终在卸车领域发挥作用。
[Abstract]:With the rapid development of coal, chemical and agricultural industries. People have put forward higher requirements for the safety and unloading efficiency of transportation vehicles. At present, the unloading efficiency of dump trucks in the market has been low in the process of unloading heavy cargo. It is easy to overturn and the output power is not enough. The existing hydraulic tipboard unloader on the market can realize the auxiliary unloading of the dump truck. However, there are the defects of fixed unloading location and the safety problem of oversized tilt angle. The purpose of this paper is to design an intelligent hydraulic rollover unloading equipment. The device innovatively combines the mobility of the dump truck and the high power characteristics of the hydraulic flip truck unloader. The device is equipped with a universal wheel lift system to realize the mobility of the equipment. The installation of rotating support and gear plate effectively prevents the side slip of the equipment and the overturning of the truck during the unloading process; The synchronous valve is used to realize the simultaneous lifting of three cylinders during the rollover process and the force servo hydraulic control system is adopted. It can output the load force to different mass load. In this paper, the overall scheme suitable for intelligent hydraulic rollover equipment is drawn up, and the design parameters of the rollover equipment are determined according to the size and load capacity of the truck. The innovative design of each sub-mechanism of the rollover device can realize the mobility of the equipment, the high power output and the high efficiency intelligent rollover, and can prevent the side slip of the equipment and the overturning of the truck during the unloading process. The research on the stability of the rollover equipment verifies that the overturning accident will not occur when the truck tilts to the limit angle, which ensures the safety of the unloading process. According to the structure scheme, the hydraulic control system with force servo valve as the core is designed, and the hydraulic control system schematic diagram of the rollover equipment control system is drawn, and the hydraulic components are selected according to the design parameters. Complete the pipeline pressure loss check and temperature rise check, and use AMESIM software to simulate the hydraulic system, further verify the rationality of the hydraulic control system schematic diagram; The mathematical model of the control system of the rollover equipment is established, the transfer function of the control system is obtained and the equation of state is derived. All the parameters of the transfer function are calculated according to the parameters of the force servo valve, and the transfer function is used to simulate the control system in MATLAB software, and the control system's Byrd diagram and Nyquist curve are outputted. The frequency method and Li Ya's stability analysis are used to determine the stability of the control system, and the controllability and observability of the control system are analyzed to determine the complete controllability of the control system. The pole assignment method is used to optimize the control system of rollover equipment to improve its performance index. The parameters of the PID controller are determined by using the engineering experience method to reduce the steady-state error of the control system. Further improve the performance of the control system of the rollover equipment. According to the parameters of the control system and simulation results of the prototype to verify the feasibility of the structure and control scheme. And finally in the unloading field to play a role.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH24;TP273

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