【摘要】：單缸插銷伸縮臂作為全地面起重機的關鍵部件,在很大程度上決定了整機的起重性能,也是全地面起重機控制的關鍵技術之一。隨著起重機發(fā)展的智能化、大型化,被控對象的嚴重非線性、時變參量較多、時變大、控制精度要求高等特點越來越明顯,常規(guī)的數(shù)字PID控制技術已經不能很好的處理這類問題,RBF神經網(wǎng)絡整定的PID控制通過對被控對象動態(tài)特性的辨識,能很好地為其匹配對應的數(shù)學模型,并根據(jù)數(shù)學模型的規(guī)律實時在線整定PID參數(shù),可以滿意地解決上述問題,具有優(yōu)良的控制精度。 本文以大連理工大學與太原重工股份有限公司合作開發(fā)的TZM500全地面起重機為課題來源,對單缸插銷伸縮系統(tǒng)的控制方法進行了對比研究,主要進行的研究工作如下： (1)歸納了國內外伸縮臂結構的主要類型,并對各自的工作原理進行分析,結合全地面起重機的特點,對其單缸插銷伸縮臂的電液控制系統(tǒng)方案進行設計,對其中涉及到的外購件進行了選型匹配。 (2)在軟件AMESim中建立了伸縮臂液壓系統(tǒng)模型,并加入AMESim/Simulink接口,為聯(lián)合仿真做準備。 (3)分析常規(guī)增量式PID控制、BP網(wǎng)絡整定的PID控制、RBF網(wǎng)絡整定的PID控制的仿真效果的各項指標,在Matlab/Simulink中建立了RBF網(wǎng)絡整定的PID控制器模型。 (4)將AMESim模型以S函數(shù)的形式調入Matlab/Simulink模型,進行聯(lián)合仿真,驗證控制器的控制效果,對結果進行分析。 本文設計了RBF網(wǎng)絡整定的PID控制器,并將其應用到伸縮臂液壓模型的控制中,結果表明RBF網(wǎng)絡整定的PID具有很好的控制效果,提升了單缸插銷式伸縮臂的控制精度。
[Abstract]:As a key part of all-ground crane, single-cylinder pin telescopic boom determines the lifting performance of the whole crane to a great extent, and is also one of the key technologies in the control of all-ground crane. With the development of intelligent and large-scale crane, it is more and more obvious that the controlled object is seriously nonlinear, with many time-varying parameters, large time-varying, high control precision and so on. The conventional digital PID control technology has not been able to deal with this kind of problem well. The PID control based on RBF neural network can match the corresponding mathematical model well through the identification of the dynamic characteristics of the controlled object. According to the rule of mathematical model, the parameters of PID can be adjusted in real time and on-line, which can solve the above problems satisfactorily and have good control precision. Based on the TZM500 all-ground crane developed by Dalian University of Technology and Taiyuan heavy Industry Co., Ltd., the control methods of single-cylinder pin expansion system are compared and studied in this paper. The main research works are as follows: (1) the main types of telescopic boom structures at home and abroad are summarized, and their working principles are analyzed, combined with the characteristics of all-ground cranes. The electro-hydraulic control system scheme of the telescopic arm of the single cylinder pin is designed, and the type selection of the purchased parts is carried out. (2) the hydraulic system model of the telescopic arm is established in the software AMESim, and the AMESim/Simulink interface is added. Preparation for joint simulation. (3) Analysis of the conventional incremental PID control, BP network tuning PID control, RBF network tuning PID control simulation results of the indicators, The PID controller model of RBF network tuning is established in Matlab/Simulink. (4) the AMESim model is transferred into the Matlab/Simulink model in the form of S function, and the joint simulation is carried out to verify the control effect of the controller, and the results are analyzed. In this paper, the PID controller of RBF network tuning is designed and applied to the control of the hydraulic model of the telescopic arm. The results show that the PID tuned by the RBF network has a good control effect and improves the control accuracy of the single-cylinder pin telescopic arm.
【學位授予單位】：大連理工大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH131.6

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本文編號：2285105