橋梁主纜檢查車兩履帶行走同步控制研究
發(fā)布時間：2019-01-28 09:20
【摘要】：懸索橋建成通車以后,纜索系統(tǒng)會隨著時間的推移而漸漸損壞,主要是因為外部環(huán)境的改變以及日益繁重的交通,為此需要使用橋梁主纜檢查車定期的對懸索橋的主纜系統(tǒng)進行檢測與維護。橋梁主纜檢查車在作業(yè)過程中,為了避免履帶對主纜表面造成破壞,需要保證兩履帶較高的同步性能。雙泵雙馬達同步控制系統(tǒng)的同步性能是影響橋梁主纜檢查車的使用性能和工作效率的關鍵因素。為了解決兩履帶同步行駛困難的問題,本文在分析了實際情況之后,提出了雙泵雙馬達同步控制的方案,以其中一個泵控馬達系統(tǒng)為主動系統(tǒng)對另一個泵控馬達系統(tǒng)進行控制。論文首先完成了兩履帶液壓行走系統(tǒng)的設計,并根據(jù)實際需要,對系統(tǒng)的主要液壓元件進行選型。然后對雙泵雙馬達同步控制系統(tǒng)進行分析研究,建立主要元件的數(shù)學模型。最后在AMESim仿真軟件中建立液壓系統(tǒng)的仿真模型。通過AMESim仿真分析,對加入PID控制器和無PID控制器兩種控制方案進行對比。仿真分析結果證明,PID控制器不但提高了泵控馬達系統(tǒng)的動態(tài)性能而且減少了同步位移誤差,起到良好的同步控制效果,滿足了設計要求。
[Abstract]:After the suspension bridge is completed and opened to traffic, the cable system will gradually be damaged over time, mainly because of the changes in the external environment and the increasingly heavy traffic. Therefore, the main cable system of the suspension bridge should be inspected and maintained regularly by using the bridge main cable inspection vehicle. In order to avoid the damage caused by crawler on the surface of the main cable during the operation of the bridge main cable inspection vehicle, it is necessary to ensure the high synchronous performance of the two tracks. The synchronous performance of the dual pump and double motor synchronous control system is the key factor that affects the performance and working efficiency of the bridge main cable inspection vehicle. In order to solve the problem of two tracks running synchronously, this paper, after analyzing the actual situation, puts forward a scheme of double pump and double motor synchronous control, one of which is the active system to control the other pump control motor system. Firstly, the design of two-track hydraulic walking system is completed, and the main hydraulic components of the system are selected according to the actual needs. Then, the synchronous control system of two pumps and two motors is analyzed and studied, and the mathematical model of main components is established. Finally, the simulation model of hydraulic system is established in AMESim simulation software. Through the simulation analysis of AMESim, the control schemes of adding PID controller and no PID controller are compared. The simulation results show that the PID controller not only improves the dynamic performance of the pump control motor system, but also reduces the synchronous displacement error, plays a good synchronous control effect and meets the design requirements.
【學位授予單位】：長安大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：U445.7;U469.6
本文編號：2416927
[Abstract]:After the suspension bridge is completed and opened to traffic, the cable system will gradually be damaged over time, mainly because of the changes in the external environment and the increasingly heavy traffic. Therefore, the main cable system of the suspension bridge should be inspected and maintained regularly by using the bridge main cable inspection vehicle. In order to avoid the damage caused by crawler on the surface of the main cable during the operation of the bridge main cable inspection vehicle, it is necessary to ensure the high synchronous performance of the two tracks. The synchronous performance of the dual pump and double motor synchronous control system is the key factor that affects the performance and working efficiency of the bridge main cable inspection vehicle. In order to solve the problem of two tracks running synchronously, this paper, after analyzing the actual situation, puts forward a scheme of double pump and double motor synchronous control, one of which is the active system to control the other pump control motor system. Firstly, the design of two-track hydraulic walking system is completed, and the main hydraulic components of the system are selected according to the actual needs. Then, the synchronous control system of two pumps and two motors is analyzed and studied, and the mathematical model of main components is established. Finally, the simulation model of hydraulic system is established in AMESim simulation software. Through the simulation analysis of AMESim, the control schemes of adding PID controller and no PID controller are compared. The simulation results show that the PID controller not only improves the dynamic performance of the pump control motor system, but also reduces the synchronous displacement error, plays a good synchronous control effect and meets the design requirements.
【學位授予單位】：長安大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：U445.7;U469.6
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