摊铺机调平系统设计及TITO调平控制系统的研究

发布时间：2018-06-19 17:48

本文选题：摊铺机 + 双输入双输出　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：沥青混凝土摊铺机是道路建造中对路面平整度影响最大的筑路设备。本课题提出将摊铺机纵坡和横坡两个单输入单输出(SISO)调平系统通过两者之间的耦合作用结合成一个双输入双输出(TITO)调平控制系统的创新点,完善调平系统数学模型,提高控制精度,并研究TITO调平系统的控制方法,实现调平装置的高性能控制。本文研究内容主要包括实验室摊铺机模型调平系统设计,SISO和TITO调平控制系统的建模,控制器的设计仿真以及实验研究。设计完善实验室摊铺机模型,先确立调平装置总体性能指标,设计摊铺机调平装置液压系统和电气系统,选型并更新部分元器件,进行组装调试。用C++编程语言进行控制软件的设计,按照控制实验内容设计控制软件的UI界面和编写控制算法源代码。在摊铺机调平系统数学建模过程中,对于SISO纵坡和横坡调平系统和TITO调平系统分别进行建模,计算各环节传递函数,并计算得到开环伯德图和闭环阶跃响应曲线。并对SISO调平系统和TITO调平系统的连续传递函数进行离散化,计算被控对象脉冲传递函数和差分方程。基于SISO调平系统和TITO调平系统被控对象的脉冲传递函数,设计SISO调平系统和TITO调平系统PID控制器、SISO调平系统BP神经网络PID控制器和TITO调平系统DRNN神经网络PID控制器。在MATLAB软件中编写控制器的控制算法程序,完成控制器的参数整定及仿真,得到调平系统在4个控制器作用下,对应仿真曲线和参数变化曲线。基于前述设计的四种控制器的算法编写实验控制程序,在实验室摊铺机模型上进行调平系统控制实验,并将实验结果分析比较。分析实验结果可知,TITO系统和SISO系统普通PID控制器的控制效果相似,证明了TITO调平控制系统的可行性;TITO系统DRNN神经网络PID控制器的控制效果相比普通PID控制器的控制效果有很大的提升,相比SISO系统BP神经网络PID控制器的控制效果有一定优势,证明了TITO调平系统DRNN神经网络PID控制方法的控制效果优异,适用于TITO调平系统控制。
[Abstract]:Asphalt concrete paver is the most effective road equipment in road construction. In this paper, it is proposed that the leveling system of single input and single output (SISO) leveling system of paver should be combined with the coupling action between them to form an innovative point of leveling control system with double input and double output, and perfect the mathematical model of leveling system. The control precision is improved and the control method of tito leveling system is studied to realize the high performance control of leveling device. This paper mainly includes the design of model leveling system of laboratory paver, the modeling of SISO and TITO leveling control system, the design and simulation of controller and the experimental research. In order to design and perfect the model of laboratory paver, the general performance index of leveling device is established first, the hydraulic system and electric system of leveling device of paver are designed, some components are selected and updated, and some components are assembled and debugged. The control software is designed with C programming language, the UI interface of the control software is designed according to the content of the control experiment and the source code of the control algorithm is written. In the course of mathematical modeling of leveling system of paver, SISO vertical slope and horizontal slope leveling system and tito leveling system are modeled, each link transfer function is calculated, and open-loop Berd diagram and closed-loop step response curve are calculated. The continuous transfer function of SISO leveling system and tito leveling system is discretized and the pulse transfer function and difference equation of the controlled object are calculated. Based on the pulse transfer function of SISO leveling system and TITO leveling system, the SISO leveling system and TITO leveling system pid controller are designed. The SISO leveling system BP neural network pid controller and the TITO leveling system DRNN neural network pid controller are designed. The control algorithm program of the controller is written in MATLAB software, and the parameter setting and simulation of the controller are completed, and the corresponding simulation curve and parameter change curve of the leveling system under the action of four controllers are obtained. Based on the algorithms of the four kinds of controllers mentioned above, the control program of the experiment is compiled, and the control experiment of the leveling system is carried out on the model of the paver in the laboratory, and the experimental results are analyzed and compared. The experimental results show that the control effect of ordinary pid controller in Tito system and SISO system is similar. The feasibility of tito leveling control system is proved. The control effect of DRNN neural network pid controller of Tito system is improved greatly compared with that of ordinary pid controller, and the control effect is superior to that of SISO system BP neural network pid controller. It is proved that the pid control method of DRNN neural network for tito leveling system has excellent control effect and is suitable for tito leveling system control.
【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】：2017
【分类号】：U415.521;TP273

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