本文選題：雙卷揚(yáng)　切入點(diǎn)：模糊PID　出處：《大連理工大學(xué)》2012年碩士論文

【摘要】：起重機(jī)是工程施工中常見的工程機(jī)械,隨著石油、化工、電力等行業(yè)的大力建設(shè),起重機(jī)越來越趨向于大噸位、超大噸位化,因此對吊載安全性的要求越來越高。為了提高吊載噸位,大噸位及超大噸位起重機(jī)的吊載系統(tǒng)已普遍采用雙卷揚(yáng)單鉤吊載,這對雙卷揚(yáng)的同步性要求也越來越高,采用傳統(tǒng)PID控制雙卷揚(yáng)同步已不能滿足系統(tǒng)精度和動態(tài)性能要求,本文將模糊控制和PID控制相結(jié)合,使系統(tǒng)根據(jù)雙卷揚(yáng)出繩量偏差及偏差變化率,通過模糊規(guī)則語言自動調(diào)整PID參數(shù),并用MATLAB和AMESim軟件建立雙卷揚(yáng)系統(tǒng)的控制和液壓模型,通過對模型聯(lián)合仿真,驗(yàn)證了模糊PID控制方法對雙卷揚(yáng)同步控制系統(tǒng)具有較好的控制效果。本文的主要研究內(nèi)容如下： (1)總結(jié)大噸位、超大噸位起重機(jī)雙卷揚(yáng)系統(tǒng)的特點(diǎn)和構(gòu)成,設(shè)計(jì)了一個(gè)閉式液壓試驗(yàn)平臺,包括液壓系統(tǒng)和電氣系統(tǒng)的設(shè)計(jì),外購元器件選型等。 (2)對閉式液壓系統(tǒng)平臺做穩(wěn)定性分析。運(yùn)用傳遞函數(shù)法建立閉式液壓試驗(yàn)平臺雙卷揚(yáng)同步控制系統(tǒng)的數(shù)學(xué)模型,并運(yùn)用MATLAB繪制系統(tǒng)伯德圖,運(yùn)用時(shí)域分析法和頻域分析法分析系統(tǒng)的穩(wěn)定性和動態(tài)響應(yīng)。 (3)設(shè)計(jì)模糊PID控制器。深入學(xué)習(xí)了模糊PID控制器及模糊PID參數(shù)整定規(guī)則,設(shè)計(jì)雙卷揚(yáng)同步控制系統(tǒng)的模糊PID控制器并在MATLAB的Fuzzy模塊中實(shí)現(xiàn),在MATLAB/Simulink中對系統(tǒng)進(jìn)行仿真,并對模糊PID控制器和傳統(tǒng)PID控制器的控制效果進(jìn)行對比分析,證明模糊PID控制效果好于傳統(tǒng)PID。 (4)電液聯(lián)合仿真。通過MATLAB/Simulink和AMESim實(shí)現(xiàn)閉式液壓試驗(yàn)平臺雙卷揚(yáng)同步控制系統(tǒng)的電液聯(lián)合仿真,在MATLAB/Simulink中建立了模糊控制控制器,在AMESim建立了液壓系統(tǒng),實(shí)現(xiàn)了聯(lián)合仿真,結(jié)果表明,在雙卷揚(yáng)同步控制系統(tǒng)中相比傳統(tǒng)PID而言,采用模糊PID控制策略能達(dá)到更好的控制效果。
[Abstract]:Crane is a common construction machinery in engineering construction. With the construction of petroleum, chemical, electric power and other industries, cranes tend to be more and more large tonnage and super-large tonnage, so the requirements for safety of hoisting are becoming higher and higher.In order to improve the lifting tonnage, the lifting system of large-tonnage and super-large tonnage cranes has generally adopted double hoisting and single hook hoisting, which requires more and more synchronicity of double hoisting.The traditional PID control for double hoist synchronization can not meet the requirements of system precision and dynamic performance. This paper combines fuzzy control and PID control to make the system based on the deviation and deviation rate of double hoisting rope.The parameters of PID are automatically adjusted by fuzzy rule language, and the control and hydraulic model of double winch system are established by MATLAB and AMESim software.It is verified that the fuzzy PID control method has good control effect on the double hoist synchronous control system.The main contents of this paper are as follows:This paper summarizes the characteristics and constitution of the double winch system of large-tonnage and super-large tonnage crane, and designs a closed hydraulic test platform, including the design of hydraulic system and electrical system, the type selection of purchased components and so on.The stability of the closed hydraulic system platform is analyzed.The mathematical model of the double hoisting synchronous control system of the closed hydraulic test platform is established by using the transfer function method. The stability and dynamic response of the system are analyzed by using the MATLAB drawing system and the time domain analysis and frequency domain analysis.The fuzzy PID controller is designed.The fuzzy PID controller and the fuzzy PID parameter tuning rule are studied in depth. The fuzzy PID controller of the double hoisting synchronous control system is designed and implemented in the Fuzzy module of MATLAB. The system is simulated in MATLAB/Simulink.The control effects of fuzzy PID controller and traditional PID controller are compared and analyzed. It is proved that the fuzzy PID controller is better than the traditional PID controller.4) Electro-hydraulic simulation.The electro-hydraulic simulation of the double hoisting synchronous control system on the closed hydraulic test platform is realized by MATLAB/Simulink and AMESim. The fuzzy control controller is established in MATLAB/Simulink, and the hydraulic system in AMESim is established, and the joint simulation is realized. The results show that,Compared with traditional PID, fuzzy PID control strategy can achieve better control effect in double winch synchronous control system.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH21

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