本文選題：數(shù)學(xué)建模 + MATLAB仿真�。� 參考：《鄭州大學(xué)》2012年碩士論文

【摘要】：隨著科學(xué)技術(shù)的飛速發(fā)展,以計算機(jī)為主的信息技術(shù)在工業(yè)中有著越來越重要的地位。而以嵌入式微處理器為主控芯片的嵌入式系統(tǒng),以速度更快,體積更小,成本更加低廉和功能更加多樣的特點,在工業(yè)領(lǐng)域有著越來越廣泛的應(yīng)用。液壓技術(shù)在許多工業(yè)領(lǐng)域有著非常明顯的優(yōu)勢,目前采用先進(jìn)的信息技術(shù)控制傳統(tǒng)液壓設(shè)備是液壓技術(shù)發(fā)展的重要方向之一。而如何提高數(shù)字化液壓的控制性能,降低控制成本,是數(shù)字化液壓技術(shù)研究的方向,也是液壓工業(yè)發(fā)展的迫切需要。 本課題針對目前市場上常用的數(shù)字化軸向柱塞變量泵進(jìn)行數(shù)字化控制的研究,設(shè)計了以高性能的嵌入式ARM處理器為主控芯片,以市場流行的嵌入式Linux操作系統(tǒng)為內(nèi)核的嵌入式控制系統(tǒng),以期提高數(shù)字化變量泵的控制性能滿足工業(yè)生產(chǎn)的需求。課題在研究過程中,主要以實現(xiàn)變量泵的恒流量控制為目標(biāo)。同時在人機(jī)接口方面,使用觸摸屏技術(shù),使得整個控制系統(tǒng)有更好的人機(jī)交互性能。 根據(jù)課題研究中所做的工作,本文將主要從以下幾方面介紹課題研究的內(nèi)容： 首先,分析了CCY14-1B型柱塞變量泵的工作原理和結(jié)構(gòu)特點,根據(jù)其工作的特點建立變量泵變量機(jī)構(gòu)的動態(tài)數(shù)學(xué)模型和變量泵系統(tǒng)中其他各個環(huán)節(jié)的靜態(tài)數(shù)學(xué)關(guān)系,這里主要分析了變量機(jī)構(gòu)的動態(tài)力學(xué)特性,并建立其各個環(huán)節(jié)的拉普拉斯增量化方程,最后將合并這些方程,建立了輸入和輸出的傳遞函數(shù)。 其次,對建立的數(shù)學(xué)模型進(jìn)行仿真和分析,在MATLAB下繪制了數(shù)字化軸向柱塞泵變量機(jī)構(gòu)的開環(huán)BODE圖和閉環(huán)的單位階躍響應(yīng)圖。然后對繪制的圖形進(jìn)行穩(wěn)定性能和瞬態(tài)性能的分析,根據(jù)仿真分析的結(jié)果,提出系統(tǒng)校正的方法,即引入PD校正,改善了系統(tǒng)的穩(wěn)態(tài)性能和瞬態(tài)性能。 然后,選用了以ARM為處理器的開發(fā)板,根據(jù)開發(fā)板的特點,制作和移植了引導(dǎo)Linux內(nèi)核啟動的U-Boot,并針對系統(tǒng)的應(yīng)用特點制作和移植了嵌入式Linux內(nèi)核,之后使用Busybox工具制作了vaffs2根文件系統(tǒng),實現(xiàn)了嵌入式操作系統(tǒng)在開發(fā)板上的正常運行。在搭建軟件控制平臺的同時,在硬件方面使用了以步進(jìn)電機(jī)為控制電機(jī),并使用傳感器檢測輸出信號,形成了一個閉環(huán)的控制系統(tǒng)。 最后,在搭建好的控制系統(tǒng)平臺下,編寫了數(shù)字化變量泵控制的驅(qū)動程序和應(yīng)用程序。同時在Linux下使用Qt圖形開發(fā)軟件,編寫Qt的應(yīng)用程序,制作了觸摸屏的界面。最后制作根文件系統(tǒng),下載到開發(fā)板運行。 這樣就完成了數(shù)字化軸向柱塞泵的控制系統(tǒng)設(shè)計,在最后的結(jié)論中對課題所做的工作進(jìn)行了總結(jié),并對以后的發(fā)展提出了展望。
[Abstract]:With the rapid development of science and technology, computer-based information technology plays an increasingly important role in industry.The embedded system with embedded microprocessor as the main control chip, with the characteristics of faster speed, smaller size, lower cost and more diverse functions, has been more and more widely used in the industrial field.Hydraulic technology has obvious advantages in many industrial fields. At present, using advanced information technology to control traditional hydraulic equipment is one of the important directions of hydraulic technology development.How to improve the control performance of digital hydraulic system and reduce the control cost is the research direction of digital hydraulic technology and the urgent need of the development of hydraulic industry.Aiming at the research of digital control of digital axial plunger variable pump which is commonly used in the market at present, this paper designs a high performance embedded ARM processor as the main control chip.The embedded control system based on the popular embedded Linux operating system can improve the control performance of the digital variable pump to meet the demand of industrial production.In the course of the research, the main goal is to realize the constant flow control of variable pump.At the same time, in the aspect of man-machine interface, the touch screen technology is used to make the whole control system have better man-machine interaction performance.According to the work done in the research, this paper will mainly introduce the contents of the research from the following aspects:Firstly, the working principle and structure characteristics of CCY14-1B plunger variable pump are analyzed. According to its working characteristics, the dynamic mathematical model of variable variable pump mechanism and the static mathematical relations of other links in variable pump system are established.In this paper, the dynamic mechanical properties of the variable mechanism are analyzed, and the Laplacian incremental equations of each link are established. Finally, the transfer functions of input and output are established by combining these equations.Secondly, the mathematical model is simulated and analyzed, and the open loop BODE diagram and the unit step response diagram of digital axial piston pump variable mechanism are drawn under MATLAB.Then, the stability and transient performance of the plotted graph are analyzed. According to the simulation results, the method of system correction is proposed, that is, the PD correction is introduced to improve the steady-state and transient performance of the system.Then, the development board with ARM as the processor is selected. According to the characteristics of the development board, the U-Boot boot boot of the Linux kernel is made and transplanted, and the embedded Linux kernel is made and transplanted according to the application characteristics of the system.Then the vaffs2 root file system is made with Busybox tool, which realizes the normal operation of embedded operating system on the development board.When the software control platform is built, the stepping motor is used as the control motor in the hardware, and the output signal is detected by the sensor, thus a closed-loop control system is formed.Finally, the driver and application program of digital variable pump control are compiled on the platform of good control system.At the same time, using QT graphics development software under Linux, the QT application program is written, and the interface of touch screen is made.Finally, the root file system is made and downloaded to the development board to run.In this way, the control system of the digital axial piston pump is designed, the work of the subject is summarized in the final conclusion, and the prospect of the future development is put forward.
【學(xué)位授予單位】：鄭州大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH322

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