本文關鍵詞： 多級液壓缸 AMESim 同步控制 模糊-PID控制 聯(lián)合仿真　出處：《太原科技大學》2012年碩士論文　論文類型：學位論文

【摘要】：重型工程機械中機、電、液一體化對多缸同步控制系統(tǒng)控制策略與仿真技術的研究非常重要。許多重型機械控制系統(tǒng)部件的加工精度以及外部干擾作用等因素，，使得多缸同步控制系統(tǒng)的精確同步遇到了極大的困難。研究如何在現(xiàn)有的生產(chǎn)條件，以確保多缸的同步控制，并提高同步精度是非常有研究意義的課題。 液壓缸的同步控制一直是個難題，已經(jīng)有很多的文獻對它進行了相關的研究，并且也取得了不錯的成績，但其中大部分的文獻都是關于單級缸，而多級缸比單級缸更加復雜，特別是多級缸換級時出現(xiàn)的液壓沖擊對多缸的同步升降控制影響非常大。因此，有關液壓同步控制領域內的多級缸在各缸受力不同、偏載、變級時等各種工況下的同步控制研究是非常重要的。 本論文的主要研究對象是液壓支架試驗臺平臺升降系統(tǒng)。通過對升降液壓系統(tǒng)的分析，找出影響系統(tǒng)同步性能的因素，對系統(tǒng)的同步性能進行研究。其具體內容如下： (1)通過分析支架試驗臺平臺調高控制系統(tǒng)的工作狀態(tài)和運動特性，以及負載和液壓缸的受力分析，提出了運用電液比例技術對系統(tǒng)進行控制的設計思路，并且進一步推導出了電液比例閥以及多級液壓缸等主要元件的數(shù)學模型，方便了我們對系統(tǒng)的了解。 (2)構建液壓支架試驗臺平臺升降系統(tǒng)的二級液壓缸四缸同步升降的AMEsim模型，運用AMEsim軟件對其進行仿真，并對其液壓系統(tǒng)的性能進行分析。通過仿真分析在受力不同、偏載、變級時等各種工況下四個缸的變化情況，并根據(jù)仿真結果找出升降系統(tǒng)不同步的規(guī)律，從而找尋合適的方案進行優(yōu)化。并驗證改進方案的正確性。 (3)通過對模糊控制、PID控制以及模糊-PID控制的研究，最終使用模糊-PID控制策略對系統(tǒng)進行有效的控制。使用Simulink軟件設計控制算法，在Simulink中設計模糊-PID控制器；利用AMESim與Simulink搭建聯(lián)合仿真模型，對模糊-PID控制器在所建立的仿真模型中進行研究，從而證明控制器對系統(tǒng)性能的調節(jié)有著很大的作用，使系統(tǒng)的同步性更加穩(wěn)定。 (4)總結全文的主要結論：二級液壓缸變級時的緩沖效果得到更好的改善；液壓支架試驗臺平臺升降系統(tǒng)的同步精度更高；并對需要進一步深入研究的問題進行展望。 通過建立二級液壓缸四缸同步控制系統(tǒng)模型，并使用AMESim軟件進行仿真，得到了加速度、速度及位移差值，還考查到各環(huán)節(jié)對同步控制的影響，這些工作將為該試驗臺的進一步研發(fā)提供可靠的基礎數(shù)據(jù)；從系統(tǒng)模型的仿真結果中可以看出，該系統(tǒng)模型能較好地模擬支架試驗臺升降系統(tǒng)的實際運行情況；利用聯(lián)合仿真的方法可以有效地研究多級液壓缸同步控制系統(tǒng)的動態(tài)特性；液壓支架試驗臺升降系統(tǒng)仿真模型的建立為實際系統(tǒng)的性能分析與優(yōu)化設計、控制算法的仿真驗證、液壓與機械系統(tǒng)的故障診斷提供了一定的參考。
[Abstract]:The integration of machine, electricity and liquid in heavy construction machinery is very important to the research of control strategy and simulation technology of multi-cylinder synchronous control system. It is very difficult to accurately synchronize the multi-cylinder synchronous control system. It is of great significance to study how to ensure the synchronization control of multi-cylinder in the existing production conditions and to improve the synchronization accuracy. The synchronous control of hydraulic cylinder is always a difficult problem. There have been a lot of literatures about it, and have made good achievements, but most of them are about single stage cylinder, and multistage cylinder is more complex than single stage cylinder. In particular, the impact of hydraulic impact on the synchronous lifting and lowering control of multi-cylinder is very great. Therefore, in the field of hydraulic synchronous control, the multi-stage cylinder has different forces on each cylinder, and the load is biased. It is very important to study the synchronous control under various working conditions, such as variable grade time. The main research object of this paper is the platform lifting system of hydraulic support test bench. Through the analysis of the lifting hydraulic system, the factors that affect the synchronization performance of the system are found out, and the synchronization performance of the system is studied. The specific contents are as follows:. 1) by analyzing the working state and motion characteristics of the height control system of the platform of the support test-bed, as well as the analysis of the load and the force of the hydraulic cylinder, the paper puts forward the design idea of using the electro-hydraulic proportional technology to control the system. The mathematical model of the main components such as electro-hydraulic proportional valve and multistage hydraulic cylinder is derived, which is convenient for us to understand the system. The AMEsim model of two-stage hydraulic cylinder four-cylinder synchronous lifting and lifting system of hydraulic support test-bed platform is constructed, and its hydraulic system is simulated by AMEsim software, and the performance of its hydraulic system is analyzed. Through the simulation analysis, the forces are different and the load is biased. The variation of four cylinders under various working conditions such as variable stage, and according to the simulation results to find out the law of the lifting system is out of sync, so as to find a suitable scheme for optimization, and verify the correctness of the improved scheme. 3) through the research of fuzzy control and fuzzy pid control, the fuzzy-PID control strategy is used to control the system effectively. The control algorithm is designed by Simulink software, and the fuzzy pid controller is designed in Simulink. Using AMESim and Simulink to build a joint simulation model, the fuzzy pid controller is studied in the simulation model, which proves that the controller plays a great role in regulating the system performance and makes the synchronization of the system more stable. The main conclusions of this paper are summarized as follows: the buffer effect of the two-stage hydraulic cylinder is improved better the synchronization accuracy of the lifting system of the hydraulic support test-bed platform is higher and the problems that need further research are prospected. Through the establishment of the two-stage hydraulic cylinder four-cylinder synchronous control system model and the simulation with AMESim software, the difference of acceleration, speed and displacement is obtained, and the influence of each link on the synchronous control is also investigated. These works will provide reliable basic data for the further research and development of the test bed, and from the simulation results of the system model, it can be seen that the system model can simulate the actual operation of the lifting system of the support test-bed. The dynamic characteristics of multi-stage hydraulic cylinder synchronous control system can be effectively studied by using the method of joint simulation, and the simulation model of the lifting system of hydraulic support test-bed is established for the performance analysis and optimization design of the actual system, and the simulation verification of the control algorithm. The fault diagnosis of hydraulic and mechanical system provides a certain reference.
【學位授予單位】：太原科技大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH137.51;TU603

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本文編號：1511196