【摘要】：響應(yīng)速度快,輸出功率大,控制精度高是電液伺服系統(tǒng)最為突出的優(yōu)點(diǎn)。因此,電液伺服系統(tǒng)被廣泛的應(yīng)用于各個(gè)領(lǐng)域。 根據(jù)電液伺服系統(tǒng)的優(yōu)點(diǎn),將其運(yùn)用到實(shí)驗(yàn)室用電解鋁反應(yīng)升降臺(tái)控制中。本文分別從結(jié)構(gòu)和控制系統(tǒng)的特性對(duì)升降臺(tái)進(jìn)行了全面分析,在所分析出結(jié)果的基礎(chǔ)上,對(duì)未達(dá)到系統(tǒng)穩(wěn)定性能要求的特性進(jìn)行了校正,使系統(tǒng)的整體性能有了很大的改善。 首先,分別從機(jī)械、電氣和液壓三個(gè)方面對(duì)升降臺(tái)做了詳細(xì)的設(shè)計(jì)。為了能夠滿足電解鋁反應(yīng)條件的要求,升降臺(tái)采用三梁四柱的機(jī)械結(jié)構(gòu)；系統(tǒng)的電氣控制不僅保證了升降臺(tái)動(dòng)梁能夠完成升降動(dòng)作,還采用位移傳感器反饋動(dòng)梁位移,構(gòu)成閉環(huán)反饋控制系統(tǒng),可精確調(diào)節(jié)動(dòng)梁的位置；液壓系統(tǒng)作為升降臺(tái)的動(dòng)力機(jī)構(gòu),確保了系統(tǒng)的平穩(wěn)運(yùn)行。 其次,建立含有對(duì)稱閥控非對(duì)稱缸系統(tǒng)的數(shù)學(xué)模型。系統(tǒng)采用非對(duì)稱液壓缸,在建立數(shù)學(xué)模型時(shí),針對(duì)不同運(yùn)動(dòng)形式進(jìn)行了具體的理論分析；將相關(guān)方程線性化后,推導(dǎo)出不同運(yùn)動(dòng)形式的系統(tǒng)數(shù)學(xué)模型；對(duì)不同形式的數(shù)學(xué)模型進(jìn)行深入的理論分析后,得出了統(tǒng)一的控制系統(tǒng)數(shù)學(xué)模型,在理論上為之后的系統(tǒng)特性分析做好了充分的準(zhǔn)備。 再次,利用MATLAB對(duì)系統(tǒng)的特性進(jìn)行具體分析。通過(guò)理論分析,確定了保證系統(tǒng)穩(wěn)定性的參數(shù)取值范圍,運(yùn)用Simulink對(duì)分析結(jié)果進(jìn)行仿真,驗(yàn)證了參數(shù)取值范圍的正確性；推導(dǎo)出系統(tǒng)的閉環(huán)傳遞函數(shù),并對(duì)閉環(huán)系統(tǒng)的響應(yīng)特性以及剛度特性進(jìn)行仿真分析；針對(duì)升降臺(tái)系統(tǒng)高精度要求,分析了系統(tǒng)的穩(wěn)態(tài)誤差,所得結(jié)果未達(dá)到要求,故系統(tǒng)需要校正。 最后,分別采用串聯(lián)滯后校正和PID調(diào)節(jié)器對(duì)系統(tǒng)進(jìn)行校正,并進(jìn)行比較。根據(jù)系統(tǒng)精度及穩(wěn)定性要求,利用滯后校正改善系統(tǒng)精度,校正后雖保證了系統(tǒng)精度但減小了閉環(huán)系統(tǒng)帶寬,系統(tǒng)響應(yīng)速度有所降低；PID調(diào)節(jié)器相當(dāng)于超前—滯后校正網(wǎng)絡(luò),在提高系統(tǒng)精度的基礎(chǔ)上,還有效的增大了閉環(huán)系統(tǒng)帶寬,系統(tǒng)的響應(yīng)速度變快,系統(tǒng)的其他性能也有一定的改善,兩者進(jìn)行比較后系統(tǒng)采用PID調(diào)節(jié)器進(jìn)行校正。
[Abstract]:High response speed, high output power and high control precision are the most outstanding advantages of electro-hydraulic servo system. Therefore, electro-hydraulic servo system is widely used in various fields. According to the advantages of electro-hydraulic servo system, it is applied to the control of electrolysis aluminum reaction elevator in laboratory. In this paper, the lifting platform is analyzed from the characteristics of the structure and the control system. On the basis of the analysis results, the characteristics which do not meet the requirements of the system stability are corrected, and the overall performance of the system is greatly improved. First of all, from the mechanical, electrical and hydraulic aspects of the lifting platform to do a detailed design. In order to meet the requirement of electrolytic aluminum reaction condition, the lifting platform adopts the mechanical structure of three beams and four columns, and the electrical control of the system not only ensures the lifting action of the lifting platform moving beam, but also uses the displacement sensor to feedback the displacement of the moving beam. The closed loop feedback control system can accurately adjust the position of the moving beam and the hydraulic system as the power mechanism of the lift platform ensures the smooth operation of the system. Secondly, the mathematical model of asymmetric cylinder system with symmetric valve control is established. The system adopts asymmetrical hydraulic cylinder, when establishing mathematical model, specific theoretical analysis is carried out for different motion forms, after linearization of relevant equations, the system mathematical model of different motion forms is deduced. After deep theoretical analysis of different forms of mathematical models, a unified mathematical model of control system is obtained, which is fully prepared for the analysis of later system characteristics in theory. Thirdly, the characteristics of the system are analyzed by MATLAB. Through theoretical analysis, the range of parameters to ensure the stability of the system is determined, the results of analysis are simulated by Simulink, and the correctness of the range of parameters is verified, and the closed-loop transfer function of the system is deduced. The response characteristics and stiffness characteristics of the closed-loop system are simulated and analyzed, and the steady-state error of the system is analyzed according to the high precision requirement of the elevator system. The results obtained do not meet the requirements, so the system needs to be corrected. Finally, series hysteresis correction and PID regulator are used to correct and compare the system. According to the requirement of system precision and stability, the system precision is improved by using hysteresis correction. After correction, the system precision is guaranteed but the closed-loop system bandwidth is reduced. The system response speed is reduced and the pid regulator is equivalent to the lead-lag correction network. On the basis of improving the precision of the system, the bandwidth of the closed-loop system is increased effectively, the response speed of the system becomes faster, and the other performance of the system is also improved. After comparing the two systems, the system adopts PID regulator to correct the system.
【學(xué)位授予單位】：沈陽(yáng)工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TG662;TH211.6

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前2條

1 劉學(xué);伺服液壓缸試驗(yàn)臺(tái)系統(tǒng)的分析與控制特性研究[D];沈陽(yáng)工業(yè)大學(xué);2013年

2 薛洪亮;液壓馬達(dá)型式試驗(yàn)臺(tái)控制特性的分析與研究[D];沈陽(yáng)工業(yè)大學(xué);2013年

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本文編號(hào)：2186836