基于PLC的小型挖掘機(jī)電控系統(tǒng)研究
發(fā)布時(shí)間：2018-11-21 20:03
【摘要】：我國“十二五”規(guī)劃的各項(xiàng)重點(diǎn)工程建設(shè)相繼開工,將大量使用挖掘機(jī)械。小型挖掘機(jī)由于體積小、方便靈活的特點(diǎn)得到廣泛應(yīng)用。電控系統(tǒng)是挖掘機(jī)的重要組成部分,起到“中樞神經(jīng)系統(tǒng)”的作用。所以研究挖掘機(jī)電控系統(tǒng)對(duì)節(jié)能減排、提高工作效率等方面具有重要意義。 本文主要設(shè)計(jì)了小型挖掘機(jī)的電源電路、起動(dòng)電路、充電電路、發(fā)動(dòng)機(jī)控制電路和其它附屬電路,重點(diǎn)研究了挖掘機(jī)油門電控系統(tǒng)。通過對(duì)油門伺服控制技術(shù)的相關(guān)分析和研究,建立了步進(jìn)電機(jī)、傳動(dòng)機(jī)構(gòu)、油門拉桿等整個(gè)油門控制系統(tǒng)的數(shù)學(xué)模型,推導(dǎo)了傳遞函數(shù)并進(jìn)行了穩(wěn)定性分析,經(jīng)軟件仿真發(fā)現(xiàn)系統(tǒng)穩(wěn)定,但存在振蕩和超調(diào)現(xiàn)象,需進(jìn)行控制策略研究。 設(shè)計(jì)了經(jīng)典PID控制器,通過MATLAB環(huán)境建立了仿真模型,用試湊法對(duì)參數(shù)進(jìn)行了調(diào)整,觀察系統(tǒng)在階躍信號(hào)輸入下的響應(yīng)曲線表明：系統(tǒng)的動(dòng)態(tài)和穩(wěn)態(tài)特性得到較好的改善,但還是不能滿足系統(tǒng)在不同工況下穩(wěn)定運(yùn)行的要求,進(jìn)而提出模糊控制策略的研究。 設(shè)計(jì)了模糊PID控制器,用FIS編輯器建立了模糊控制規(guī)則表,列出各變量的隸屬度表。通過MATLAB仿真實(shí)驗(yàn),分析了系統(tǒng)在階躍輸入信號(hào)和方波輸入信號(hào)下的響應(yīng)曲線,結(jié)果表明：模糊PID控制器的效果要優(yōu)于經(jīng)典PID控制器,并能實(shí)現(xiàn)參數(shù)的在線調(diào)整,滿足了設(shè)計(jì)要求。 設(shè)計(jì)了PLC硬件控制電路、傳感器電路和相關(guān)接口電路,編寫了系統(tǒng)控制軟件程序,并給出了程序流程框圖及部分程序。搭建了油門控制實(shí)驗(yàn)系統(tǒng),對(duì)系統(tǒng)程序在軟件和實(shí)驗(yàn)環(huán)境下進(jìn)行了運(yùn)行、測試和優(yōu)化,完成實(shí)驗(yàn)和設(shè)計(jì)任務(wù)。 仿真和部分實(shí)驗(yàn)證明本文設(shè)計(jì)的電控系統(tǒng)性能可靠,運(yùn)行穩(wěn)定�？蓱�(yīng)用于小型挖掘機(jī)的電控系統(tǒng)。
[Abstract]:The construction of all key projects in the "Twelfth five-year Plan" will be carried out one after another and excavating machinery will be used in large quantities. Small excavators are widely used because of their small size and convenient and flexible features. Electronic control system is an important part of excavator and plays the role of central nervous system. So it is very important to study the electric control system of excavator to save energy and reduce emission and improve working efficiency. In this paper, the power circuit, starting circuit, charging circuit, engine control circuit and other auxiliary circuits of the small excavator are designed, and the electric control system of the throttle of the excavator is studied emphatically. Based on the analysis and research of throttle servo control technology, the mathematical model of the whole throttle control system, such as step motor, transmission mechanism and throttle rod, is established, and the transfer function is deduced and the stability is analyzed. The software simulation shows that the system is stable, but there is oscillation and overshoot, so it is necessary to study the control strategy. The classical PID controller is designed, the simulation model is established through MATLAB environment, and the parameters are adjusted by trial and error method. The response curve of the system under step signal input shows that the dynamic and steady-state characteristics of the system are improved. However, it still can not meet the requirements of stable operation of the system under different operating conditions, and then put forward the research of fuzzy control strategy. The fuzzy PID controller is designed, and the fuzzy control rule table is established by using the FIS editor, and the membership table of each variable is listed. The response curves of the system under step input signal and square wave input signal are analyzed by MATLAB simulation experiment. The results show that the fuzzy PID controller is better than the classical PID controller, and the parameters can be adjusted online. Meet the design requirements. The PLC hardware control circuit, sensor circuit and related interface circuit are designed. The system control software program is written, and the program flow chart and some programs are given. The throttle control experiment system is built, and the system program is run, tested and optimized in software and experimental environment, and the task of experiment and design is completed. Simulation and some experiments show that the electronic control system designed in this paper is reliable in performance and stable in operation. It can be used in the electric control system of small excavator.
【學(xué)位授予單位】：石家莊鐵道大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類號(hào)】：TU621
本文編號(hào)：2348131
[Abstract]:The construction of all key projects in the "Twelfth five-year Plan" will be carried out one after another and excavating machinery will be used in large quantities. Small excavators are widely used because of their small size and convenient and flexible features. Electronic control system is an important part of excavator and plays the role of central nervous system. So it is very important to study the electric control system of excavator to save energy and reduce emission and improve working efficiency. In this paper, the power circuit, starting circuit, charging circuit, engine control circuit and other auxiliary circuits of the small excavator are designed, and the electric control system of the throttle of the excavator is studied emphatically. Based on the analysis and research of throttle servo control technology, the mathematical model of the whole throttle control system, such as step motor, transmission mechanism and throttle rod, is established, and the transfer function is deduced and the stability is analyzed. The software simulation shows that the system is stable, but there is oscillation and overshoot, so it is necessary to study the control strategy. The classical PID controller is designed, the simulation model is established through MATLAB environment, and the parameters are adjusted by trial and error method. The response curve of the system under step signal input shows that the dynamic and steady-state characteristics of the system are improved. However, it still can not meet the requirements of stable operation of the system under different operating conditions, and then put forward the research of fuzzy control strategy. The fuzzy PID controller is designed, and the fuzzy control rule table is established by using the FIS editor, and the membership table of each variable is listed. The response curves of the system under step input signal and square wave input signal are analyzed by MATLAB simulation experiment. The results show that the fuzzy PID controller is better than the classical PID controller, and the parameters can be adjusted online. Meet the design requirements. The PLC hardware control circuit, sensor circuit and related interface circuit are designed. The system control software program is written, and the program flow chart and some programs are given. The throttle control experiment system is built, and the system program is run, tested and optimized in software and experimental environment, and the task of experiment and design is completed. Simulation and some experiments show that the electronic control system designed in this paper is reliable in performance and stable in operation. It can be used in the electric control system of small excavator.
【學(xué)位授予單位】：石家莊鐵道大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類號(hào)】：TU621
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