【摘要】：隨著國(guó)內(nèi)對(duì)中大型伸縮臂起重機(jī)的需求不斷增加,作為其中關(guān)鍵技術(shù)之一的單缸插銷(xiāo)式伸縮機(jī)構(gòu)也越來(lái)越引起人們的重視。單缸插銷(xiāo)式伸縮機(jī)構(gòu)利用單個(gè)油缸往復(fù)運(yùn)動(dòng)實(shí)現(xiàn)各個(gè)臂節(jié)的伸縮動(dòng)作,采用機(jī)電液訊多功能一體化控制技術(shù)從而實(shí)現(xiàn)伸縮臂的智能化精準(zhǔn)控制。本論文是大連理工大學(xué)與福田雷薩起重機(jī)研究所合作的QY80汽車(chē)起重機(jī)單缸插銷(xiāo)項(xiàng)目作為實(shí)例分析。論文是以單缸插銷(xiāo)式伸縮臂伸縮系統(tǒng)分析及液壓建模仿真技術(shù)為核心,目的在于通過(guò)對(duì)單缸插銷(xiāo)系統(tǒng)設(shè)計(jì)的電氣和液壓部分控制研究,找出伸縮臂在伸縮過(guò)程中的影響因素,通過(guò)控制算法消除誤差,并通過(guò)軟件編程實(shí)現(xiàn)整個(gè)系統(tǒng)的動(dòng)作控制。本論文的主要工作內(nèi)容如下：(1)總結(jié)國(guó)內(nèi)外主要的伸縮機(jī)構(gòu)類(lèi)型,分析其工作原理及優(yōu)缺點(diǎn)。對(duì)選用的伸縮機(jī)構(gòu),研究其控制機(jī)理,進(jìn)行詳細(xì)設(shè)計(jì)和計(jì)算分析。(2)設(shè)計(jì)單缸插銷(xiāo)伸縮機(jī)構(gòu)的電氣液壓原理圖,對(duì)關(guān)鍵元器件進(jìn)行選型。(3)設(shè)計(jì)單缸插銷(xiāo)伸縮系統(tǒng)伸縮動(dòng)作液壓控制回路,對(duì)電液比例系統(tǒng)進(jìn)行理論建模,并進(jìn)行穩(wěn)定性分析。(4)采用AMESim軟件對(duì)缸臂銷(xiāo)插拔系統(tǒng)進(jìn)行液壓仿真,找出影響控制系統(tǒng)平穩(wěn)性和響應(yīng)快速性的影響因素。(5)選擇一種智能控制算法—模糊PID控制算法,結(jié)合AMESim/Simulink對(duì)單缸插銷(xiāo)伸縮系統(tǒng)進(jìn)行聯(lián)合仿真,比較加入控制算法后對(duì)系統(tǒng)的性能的影響。(6)研究單缸插銷(xiāo)動(dòng)作控制原理,設(shè)計(jì)控制系統(tǒng)手動(dòng)自動(dòng)伸縮控制流程圖,使用CoDeSys軟件編程,并進(jìn)行模擬仿真分析。本文通過(guò)對(duì)缸臂銷(xiāo)插拔系統(tǒng)液壓仿真,找出了對(duì)插拔周期和系統(tǒng)穩(wěn)定性的一些影響因素。同時(shí)建立單缸插銷(xiāo)機(jī)構(gòu)單缸伸縮環(huán)節(jié)的液壓仿真模型,在控制系統(tǒng)中加入模糊PID控制算法,結(jié)合AMESim/Simulink進(jìn)行了聯(lián)合仿真分析,實(shí)現(xiàn)了對(duì)伸縮系統(tǒng)的精準(zhǔn)控制的目的,并對(duì)以后的單缸插銷(xiāo)式伸縮機(jī)構(gòu)的控制設(shè)計(jì)工作起到一定的借鑒作用。
[Abstract]:With the increasing demand for medium and large telescopic jib cranes in China, the single cylinder pin telescopic mechanism, as one of the key technologies, has attracted more and more attention. Single cylinder pin telescopic mechanism uses single oil cylinder reciprocating motion to realize the telescopic movement of each arm segment, and adopts the electromechanical and hydraulic multi-function integrated control technology to realize the intelligent accurate control of the telescopic arm. This paper is a case study of QY80 single cylinder pin project of automobile crane, which is cooperated by Dalian University of Technology and Futian Ressa Crane Research Institute. This paper focuses on the analysis of the telescopic system of single cylinder pin telescopic arm and the hydraulic modeling and simulation technology. The purpose of this paper is to find out the influence factors of the telescopic arm in the process of expansion and expansion by studying the electrical and hydraulic part control of the design of the single cylinder plug pin system. The error is eliminated by the control algorithm, and the motion control of the whole system is realized by software programming. The main work of this paper is as follows: (1) summarize the main types of telescopic mechanism at home and abroad, analyze its working principle, advantages and disadvantages. The control mechanism of the selected telescopic mechanism is studied, and the detailed design and calculation analysis are carried out. (2) the electrical and hydraulic schematic diagram of the telescopic mechanism with single cylinder pin is designed, The key components are selected. (3) the hydraulic control circuit of the expansion and expansion system of the single cylinder pin is designed, and the theoretical modeling of the electro-hydraulic proportional system is carried out. And the stability is analyzed. (4) hydraulic simulation of cylinder arm pin plug and pull system is carried out by using AMESim software to find out the influence factors that affect the stability and response speed of control system. (5) choose a kind of intelligent control algorithm-Fuzzy PID control algorithm. Combined with AMESim/Simulink, the single cylinder pin expansion system is simulated, and the effect of the control algorithm on the performance of the system is compared. (6) the control principle of single cylinder pin is studied, and the manual automatic expansion control flow chart of the control system is designed. Using CoDeSys software programming, and simulation analysis. In this paper, the hydraulic simulation of cylinder arm pin insertion system is carried out to find out some factors that affect the insertion period and stability of the system. At the same time, the hydraulic simulation model of single cylinder expansion link of single cylinder pin mechanism is established, the fuzzy PID control algorithm is added to the control system, and combined with AMESim/Simulink, the purpose of precise control of the telescopic system is realized. It can be used for reference for the control design of single-cylinder pin-type telescopic mechanism in the future.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TH213.6;TP273

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本文編號(hào)：2308565