【摘要】：舞臺(tái)設(shè)備廣泛應(yīng)用于各種體育館、劇院等場(chǎng)所,它的性能直接影響舞臺(tái)上的表演效果。實(shí)現(xiàn)舞臺(tái)的升降有多種傳動(dòng)方式,最常見(jiàn)的是機(jī)械傳動(dòng),但本文的控制對(duì)象為重型舞臺(tái),故本文采用基于模糊PID控制器的液壓位置同步系統(tǒng),以實(shí)現(xiàn)舞臺(tái)在35~100mm/s的速度范圍內(nèi)能按照控制速度進(jìn)行同步升降,且具有較高的控制精度和同步精度。本文對(duì)重型舞臺(tái)液壓同步系統(tǒng)進(jìn)行了較為系統(tǒng)的探討,包括舞臺(tái)的升降機(jī)構(gòu)、液壓系統(tǒng)、同步控制策略及智能控制。論文主要內(nèi)容如下:(1)介紹課題的研究背景,敘述國(guó)內(nèi)外舞臺(tái)技術(shù)的發(fā)展情況,闡述液壓同步控制技術(shù)的研究意義、研究現(xiàn)狀和發(fā)展趨勢(shì)。(2)根據(jù)舞臺(tái)的設(shè)計(jì)要求,對(duì)其升降系統(tǒng)進(jìn)行總體設(shè)計(jì)。對(duì)3種舞臺(tái)升降機(jī)構(gòu)設(shè)計(jì)方案進(jìn)行比較,確定采用可移動(dòng)式剪叉機(jī)構(gòu),并計(jì)算該機(jī)構(gòu)的相關(guān)參數(shù),包括位置參數(shù)、速度參數(shù)及受力分析。分析計(jì)算結(jié)果,可知:采用該機(jī)構(gòu)的舞臺(tái)升降行程可達(dá)液壓缸活塞桿行程的1.6倍,可實(shí)現(xiàn)快速升降的目的,且具有承載能力大和尺寸緊湊等特點(diǎn)。(3)根據(jù)舞臺(tái)的設(shè)計(jì)要求,設(shè)計(jì)了采用比例調(diào)速閥控制流量的液壓位置同步系統(tǒng),并選擇主從控制策略,以實(shí)現(xiàn)多液壓缸的同步控制。(4)根據(jù)舞臺(tái)面的最大負(fù)載和最大運(yùn)動(dòng)速度計(jì)算液壓系統(tǒng)的主要參數(shù),并對(duì)部分元件進(jìn)行計(jì)算和選型,根據(jù)工作參數(shù),建立液壓系統(tǒng)主要元件的AMESim模型,并進(jìn)行仿真,分析其特性,可知:比例調(diào)速閥的流量和輸入電流成正比;液壓鎖具有良好的鎖緊性能。在此基礎(chǔ)上,建立單液壓缸系統(tǒng)的仿真模型。(5)對(duì)開(kāi)環(huán)單液壓缸系統(tǒng)進(jìn)行仿真,分析其在4種極限工況下的動(dòng)、靜態(tài)特性,可知:開(kāi)環(huán)單液壓缸系統(tǒng)的靜差較大,定位精度差;對(duì)開(kāi)環(huán)多液壓缸系統(tǒng)進(jìn)行仿真,分析多液壓缸的同步性,針對(duì)不同步現(xiàn)象,選用主從控制策略以實(shí)現(xiàn)系統(tǒng)的同步運(yùn)動(dòng)。(6)采用PID控制器控制單液壓缸系統(tǒng),盡管最大超調(diào)量偏大,但其衰減快、振蕩次數(shù)少,系統(tǒng)靜差小,有很好的定位精度,提高了系統(tǒng)的定位精度和運(yùn)行平穩(wěn)性。(7)設(shè)計(jì)多變量模糊PID控制器,該控制器可根據(jù)舞臺(tái)面的負(fù)載和同步誤差進(jìn)行參數(shù)的在線整定。在Matlab/Simulink中建立模糊PID控制器的模型。綜合軟件優(yōu)勢(shì),通過(guò)AMESim/Simulink接口,實(shí)現(xiàn)液壓系統(tǒng)和控制系統(tǒng)的聯(lián)合仿真。仿真結(jié)果顯示:與傳統(tǒng)PID控制相比,采用模糊PID控制的主舞臺(tái)面具有更好的動(dòng)、靜特性,且魯棒性好;主從舞臺(tái)面間最大位移差為14.9mm,各從舞臺(tái)面間最大位移差為6.2mm,滿足設(shè)計(jì)時(shí)同步誤差|?|≤20mm的要求。
[Abstract]:Stage equipment is widely used in various gymnasiums, theatres and other places, its performance directly affects the performance of the stage. There are many transmission modes to realize the lifting and lowering of the stage, the most common is mechanical transmission, but the control object of this paper is heavy stage, so the hydraulic position synchronization system based on fuzzy PID controller is adopted in this paper. In order to realize the stage can synchronously rise and fall according to the control speed in the speed range of 35~100mm/s, and has higher control precision and synchronization precision. In this paper, the hydraulic synchronous system of heavy stage is discussed systematically, including the lifting mechanism, hydraulic system, synchronous control strategy and intelligent control. The main contents of the thesis are as follows: (1) introduce the research background of the subject, describe the development of stage technology at home and abroad, expound the research significance, research status and development trend of hydraulic synchronous control technology. (2) according to the stage design requirements, The overall design of the lifting system is carried out. In this paper, three design schemes of stage lifting mechanism are compared, the movable shear fork mechanism is adopted, and the relative parameters of the mechanism, including position parameter, velocity parameter and force analysis, are calculated. The analysis and calculation results show that the stage lifting stroke of the mechanism can reach 1.6 times of the piston rod stroke of the hydraulic cylinder, which can realize the purpose of rapid lifting, and has the characteristics of large bearing capacity and compact size. (3) according to the design requirements of the stage, The hydraulic position synchronization system using proportional speed regulating valve to control the flow rate is designed, and the master-slave control strategy is selected to realize the synchronous control of the multiple hydraulic cylinders. (4) the main parameters of the hydraulic system are calculated according to the maximum load and the maximum moving speed of the stage surface. According to the working parameters, the AMESim model of the main components of hydraulic system is established, and the simulation is carried out to analyze its characteristics. The results show that the flow rate of proportional speed regulating valve is proportional to the input current; Hydraulic lock has good locking performance. On this basis, the simulation model of the single hydraulic cylinder system is established. (5) the open loop single hydraulic cylinder system is simulated, and the dynamic and static characteristics of the open loop single hydraulic cylinder system under four kinds of limit conditions are analyzed. The results show that: the static error of the open loop single hydraulic cylinder system is large, and the positioning accuracy is poor; The open-loop multi-cylinder system is simulated, the synchronism of the multi-cylinder is analyzed, and the master-slave control strategy is selected to realize the synchronous motion of the system. (6) the PID controller is used to control the single-cylinder system, although the maximum overshoot is too large. But its attenuation is fast, the frequency of oscillation is less, the static difference of the system is small, the positioning accuracy of the system is very good, the positioning accuracy and the running stability of the system are improved. (7) the multivariable fuzzy PID controller is designed. The controller can adjust the parameters on line according to the load and synchronization error of the stage surface. The model of fuzzy PID controller is established in Matlab/Simulink. Combined simulation of hydraulic system and control system is realized through AMESim/Simulink interface. The simulation results show that compared with the traditional PID control, the main stage mask with fuzzy PID control has better dynamic and static characteristics and better robustness. The maximum displacement difference between the master and slave stage is 14.9mm, and the maximum displacement difference between each stage is 6.2mm, which meets the requirement of synchronous error? 鈮，

本文編號(hào)：2210869