【摘要】：懸吊式作業(yè)平臺(tái)是一種新型、高效、安全的建筑外立面安裝作業(yè)裝備,該類作業(yè)平臺(tái)操作簡(jiǎn)單、靈活、方便,具有較高的適應(yīng)性,可將傳統(tǒng)工程施工效率提升80%以上。懸吊式作業(yè)平臺(tái)采用摩擦式提升機(jī)構(gòu)將承載施工人員和材料的平臺(tái)提升至高空施工作業(yè)面。盡管懸吊式作業(yè)技術(shù)在高空施工領(lǐng)域取得了巨大成功,但其推廣應(yīng)用依然存在嚴(yán)重的制約,平臺(tái)中提升機(jī)構(gòu)傳動(dòng)性能的穩(wěn)定性是主要因素。穩(wěn)定性研究包括提升機(jī)構(gòu)性能、控制兩個(gè)方面,其核心是：改善提升機(jī)構(gòu)的提升性能,減少摩擦中滑動(dòng),提高傳動(dòng)控制的可靠性。影響提升機(jī)構(gòu)穩(wěn)定性因素很多,包括鋼絲繩參數(shù)、提升機(jī)構(gòu)形式、繩輪結(jié)構(gòu)及控制系統(tǒng)等。其中,鋼絲繩的多螺旋結(jié)構(gòu)導(dǎo)致其模型建立及力學(xué)分析十分困難,制約了摩擦傳動(dòng)性能的精確計(jì)算；提升能力、振動(dòng)、溫度是提升機(jī)構(gòu)的重要性能指標(biāo),提升能力與鋼絲繩的直徑、繩輪繩槽結(jié)構(gòu)及繞繩方式有關(guān),而影響振動(dòng)和溫度的因素并不十分明確；控制系統(tǒng)則是保證傳動(dòng)過(guò)程穩(wěn)定性的重要部分,鋼絲繩參與的傳動(dòng)控制問(wèn)題比較復(fù)雜,這些問(wèn)題的解決將有助于促進(jìn)懸吊式作業(yè)平臺(tái)技術(shù)的提高,改善平臺(tái)的安全性和穩(wěn)定性。 本文針對(duì)提升機(jī)構(gòu)核心部件鋼絲繩進(jìn)行了精確建模,進(jìn)而研究了提升機(jī)構(gòu)摩擦傳動(dòng)機(jī)理與性能,提出并優(yōu)化了提升機(jī)構(gòu)的性能控制策略。首先,基于微分幾何學(xué)和螺旋結(jié)構(gòu)的數(shù)學(xué)表達(dá),揭示了螺旋角對(duì)鋼絲繩空間結(jié)構(gòu)的影響機(jī)理,采用修正螺旋角顯著地提高了鋼絲繩建模精度,降低了鋼絲繩力學(xué)計(jì)算誤差；其次,在考慮摩擦繩輪作用角的情況下,推導(dǎo)出鋼絲繩與繩輪間的等效摩擦系數(shù)。并提出將鋼絲繩拉力Fl與周向摩擦力F2形成的影響角γ考慮在摩擦傳動(dòng)分析過(guò)程中,與傳統(tǒng)分析方法相比,該方法更為準(zhǔn)確地描述了鋼絲繩摩擦傳動(dòng)的工作過(guò)程；再次,提出了提升機(jī)構(gòu)傳動(dòng)性能測(cè)試方法,使用該方法開發(fā)了可對(duì)摩擦提升力、振動(dòng)及機(jī)身溫度等特性進(jìn)行測(cè)試的系統(tǒng),采用該系統(tǒng)測(cè)試了不同設(shè)計(jì)參數(shù)下提升機(jī)構(gòu)的性能,得到了各參數(shù)對(duì)提升機(jī)構(gòu)性能的作用曲線；最后,設(shè)計(jì)了參數(shù)可調(diào)的自適應(yīng)模糊PID控制策略,其在響應(yīng)速度及抗干擾能力等方面優(yōu)于傳統(tǒng)PID控制,解決了提升機(jī)構(gòu)穩(wěn)定性問(wèn)題。探索性提出慢變和快變雙�？刂撇呗�,應(yīng)用降階滑膜系統(tǒng)對(duì)提升機(jī)構(gòu)不確定因素的干擾進(jìn)行了抑制,增強(qiáng)了控制系統(tǒng)的魯棒特性。 論文通過(guò)對(duì)提升機(jī)構(gòu)進(jìn)行深入研究,準(zhǔn)確地描述了鋼絲繩摩擦傳動(dòng)的作用機(jī)理,系統(tǒng)地測(cè)試了不同設(shè)計(jì)參數(shù)下提升機(jī)構(gòu)性能,采用自適應(yīng)模糊PID的控制策略及雙時(shí)標(biāo)控制策略解決了提升機(jī)構(gòu)傳動(dòng)控制的穩(wěn)定性問(wèn)題。
[Abstract]:Suspension platform is a new type of installation equipment for exterior facade of building. It is simple, flexible, convenient and has high adaptability. It can improve the construction efficiency of traditional engineering by more than 80%. The suspension platform uses friction lifting mechanism to lift the platform carrying construction personnel and materials to the high altitude construction work surface. In spite of the great success of suspended operation technology in the field of high-altitude construction, its popularization and application are still severely restricted, and the stability of the transmission performance of the lifting mechanism in the platform is the main factor. The stability research includes two aspects: the performance of the lifting mechanism and the control, the core of which is to improve the lifting performance of the lifting mechanism, to reduce the sliding in friction, and to improve the reliability of the transmission control. There are many factors affecting the stability of hoisting mechanism, including wire rope parameters, hoisting mechanism form, rope wheel structure and control system. Among them, the multi-helical structure of wire rope leads to the difficulty of modeling and mechanical analysis, which restricts the accurate calculation of friction transmission performance, and the lifting ability, vibration and temperature are the important performance indexes of lifting mechanism. The lifting capacity is related to the diameter of the wire rope, the structure of the rope grooves and the winding mode, but the factors affecting the vibration and temperature are not very clear, and the control system is an important part of ensuring the stability of the transmission process. The problems of transmission control in which wire rope is involved are quite complex. The solution of these problems will help to improve the technology of suspension platform and improve the safety and stability of the platform. In this paper, the precise modeling of the steel wire rope, the core component of the lifting mechanism, is carried out, and the friction transmission mechanism and performance of the lifting mechanism are studied, and the performance control strategy of the lifting mechanism is proposed and optimized. Firstly, based on the mathematical expression of differential geometry and helical structure, the influence mechanism of helical angle on the spatial structure of wire rope is revealed. The modified spiral angle improves the modeling accuracy of wire rope significantly and reduces the calculation error of wire rope mechanics. Secondly, the equivalent friction coefficient between wire rope and rope wheel is derived by considering the action angle of friction rope wheel. It is proposed that the influence angle 緯 of wire rope tension Fl and circumferential friction force F2 be considered in the process of friction transmission analysis. Compared with the traditional analysis method, this method describes the working process of steel wire rope friction transmission more accurately. A testing method for the transmission performance of a lifting mechanism is proposed. A system for testing the friction lift force, vibration and temperature of the fuselage is developed. The performance of the lifting mechanism under different design parameters is tested by the system. Finally, the adaptive fuzzy PID control strategy with adjustable parameters is designed, which is superior to the traditional PID control in response speed and anti-jamming ability, and solves the stability problem of the lifting mechanism. A slow and fast variable dual mode control strategy is proposed in this paper. The disturbance of the uncertain factors of the lifting mechanism is suppressed by using the reduced order synovium system, and the robustness of the control system is enhanced. In this paper, the mechanism of friction transmission of steel wire rope is described accurately, and the performance of lifting mechanism under different design parameters is systematically tested. The adaptive fuzzy PID control strategy and the dual time scale control strategy are used to solve the stability problem of the drive control of the lifting mechanism.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TH211.6

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