發(fā)布時(shí)間：2018-02-28 17:01

  本文關(guān)鍵詞： 單缸插銷 液壓系統(tǒng) 神經(jīng)網(wǎng)絡(luò)PID控制 伸縮臂起重機(jī)　出處：《大連理工大學(xué)》2011年碩士論文　論文類型：學(xué)位論文

【摘要】：單缸插銷式伸縮臂技術(shù)是伸縮臂起重機(jī)特有的關(guān)鍵技術(shù)之一。隨著伸縮臂起重機(jī)不斷的向大型化、復(fù)雜化方向的發(fā)展,系統(tǒng)的非線性、不確定性、時(shí)變性、外界干擾和交叉耦合干擾對(duì)伸縮系統(tǒng)的位置精度的影響越來越明顯,傳統(tǒng)的PID控制方式難以達(dá)到控制要求。而神經(jīng)網(wǎng)絡(luò)PID控制器能夠依據(jù)辨識(shí)網(wǎng)絡(luò)提供的信息,實(shí)現(xiàn)控制參數(shù)的在線自適應(yīng)調(diào)整,可以解決具有非線性、時(shí)變性的電液比例伸縮系統(tǒng)的控制問題,實(shí)現(xiàn)系統(tǒng)的智能控制。 本文以大連理工大學(xué)與合肥神馬重工合作開發(fā)的SMQ1000A伸縮臂起重機(jī)為為工程實(shí)例,對(duì)電液比例伸縮系統(tǒng)的智能控制方式進(jìn)行了深入的研究,主要工作如下： (1)研究多種伸縮機(jī)構(gòu)的結(jié)構(gòu)特點(diǎn)和伸縮原理,設(shè)計(jì)了單缸插銷式伸縮臂的電液控制系統(tǒng),并對(duì)SMQ1000A (?)申縮臂起重機(jī)伸縮系統(tǒng)進(jìn)行了匹配計(jì)算和元件選型； (2)基于AMESim對(duì)系統(tǒng)中關(guān)鍵液壓元件,如電液比例閥、伸縮油缸等進(jìn)行建模,在此基礎(chǔ)上建立了單缸插銷式伸縮臂伸縮機(jī)構(gòu)液壓系統(tǒng)仿真模型； (3)在Matlab/Simulink中應(yīng)用單神經(jīng)元模型建立了神經(jīng)網(wǎng)絡(luò)PID控制器,實(shí)現(xiàn)了電液比例伸縮系統(tǒng)的智能控制。在Matlab/Simulink中應(yīng)用BP神經(jīng)網(wǎng)絡(luò)建立了神經(jīng)網(wǎng)絡(luò)辨識(shí)器,利用神經(jīng)網(wǎng)絡(luò)逼近任意非線性函數(shù)的能力,來模擬實(shí)際系統(tǒng)的輸入—輸出關(guān)系,兩者有機(jī)結(jié)合構(gòu)成本論文所設(shè)計(jì)整體控制器的核心部分； (4)聯(lián)合仿真的研究及結(jié)果分析。將AMESim軟件中建立的液壓模型調(diào)用到Matlab/Simulink環(huán)境下,和本文設(shè)計(jì)的神經(jīng)網(wǎng)絡(luò)控制系統(tǒng)建立起電液閉環(huán)控制,實(shí)現(xiàn)了液壓-控制的電液比例伸縮系統(tǒng)聯(lián)合仿真。仿真結(jié)果表明,本文設(shè)計(jì)的神經(jīng)網(wǎng)絡(luò)PID控制系統(tǒng),可以解決具有非線性、時(shí)變性的電液比例伸縮系統(tǒng)控制問題。仿真分析了影響油位置縮精度的主要因素,為設(shè)計(jì)提出了一些具有實(shí)際參考價(jià)值的建議。 本文建立了單缸插銷式伸縮臂伸縮機(jī)構(gòu)液壓系統(tǒng)的仿真模型,并與本文設(shè)計(jì)的神經(jīng)網(wǎng)絡(luò)PID控制系統(tǒng)進(jìn)行了聯(lián)合仿真,實(shí)現(xiàn)了系統(tǒng)的智能控制,其研究成果對(duì)改進(jìn)工程機(jī)械電液比例伸縮系統(tǒng)的控制方式具有重要理論和實(shí)際意義。
[Abstract]:The single - cylinder bolt telescopic boom technology is one of the key technologies of the telescopic boom crane . As the telescopic boom crane continuously develops into large - scale and complicated direction , the nonlinear , uncertain , time - denatured , external disturbance and cross - coupling interference of the system are more and more obvious to the position accuracy of the telescopic system . The SMQ1000A telescopic boom crane developed by Dalian University of Science and Technology and Hefei Shenma Heavy Industry Co . , Ltd . is an example of engineering , and the intelligent control mode of the electro - hydraulic proportional telescopic system is studied deeply . The main work is as follows : ( 1 ) The structure characteristics and the principle of telescoping mechanism are studied , the electro - hydraulic control system of single - cylinder bolt telescopic boom is designed , and SMQ1000A ( ? ) is designed . Matching calculation and component selection are carried out on the telescopic system of the extension arm crane ; ( 2 ) modeling the key hydraulic components in the system , such as electro - hydraulic proportional valve , telescopic oil cylinder and so on based on the Sim Sim , and then establishing a simulation model of the hydraulic system of the single - cylinder bolt type telescopic arm telescopic mechanism ; ( 3 ) Using the single neuron model in Matlab / Simulink to establish the neural network PID controller , the intelligent control of the electro - hydraulic proportional telescopic system is realized . In Matlab / Simulink , the BP neural network is applied to establish the neural network identifier , and the input - output relationship of the real system is simulated by using the neural network to approximate any nonlinear function . The simulation results show that the neural network PID control system designed by this paper can solve the problems of nonlinear and time - denatured electro - hydraulic proportional telescopic system . Simulation results show that the neural network PID control system designed by this paper can solve the problems of nonlinear and time - denatured electro - hydraulic proportional telescopic system control . The simulation model of the hydraulic system of the telescopic mechanism of single - cylinder bolt - type telescopic arm is established , and combined with the neural network PID control system designed in this paper , the intelligent control of the system is realized , and the research results have important theoretical and practical significance for improving the control mode of the electro - hydraulic proportional telescopic system of engineering machinery .

【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】：2011
【分類號(hào)】：TH212;TP183

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前2條

1 邵廣啟;動(dòng)臂塔式起重機(jī)水平變幅控制仿真研究[D];大連理工大學(xué);2012年

2 袁德鵬;齒輪互鎖式單缸插銷機(jī)構(gòu)性能仿真分析研究[D];大連理工大學(xué);2012年

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本文編號(hào)：1548165