【摘要】：舉升機構(gòu)是帶壓作業(yè)裝置的關(guān)鍵部分,一般采用兩路液壓缸系統(tǒng)同步驅(qū)動,該液壓系統(tǒng)的性能對整個帶壓作業(yè)裝置至關(guān)重要。本課題針對帶壓作業(yè)裝置中舉升電液伺服系統(tǒng)進行分析研究。針對該液壓系統(tǒng)長行程、外負載力大范圍變化的特點,采用非對稱閥控非對稱缸,并建立了單路系統(tǒng)的非線性數(shù)學模型;在此基礎(chǔ)上,考慮雙路系統(tǒng)耦合的影響,建立了雙路系統(tǒng)數(shù)學模型。針對帶壓作業(yè)裝置液壓舉升系統(tǒng)要求在大范圍內(nèi)平穩(wěn)運行的特點,本文對單路系統(tǒng)進行分析,采用基于微分幾何的反饋線性化理論,將非線性系統(tǒng)轉(zhuǎn)化為一個完全可控的線性系統(tǒng),保留了系統(tǒng)高階非線性項,實現(xiàn)了大范圍線性化,并分析了其零動態(tài)的穩(wěn)定性。對大范圍線性化之后的可控系統(tǒng),利用有界跟蹤原理設(shè)計了控制器。由于負載干擾力對系統(tǒng)影響較大,設(shè)計了負載干擾力擾動觀測器。不同工況下,對反饋線性化控制器與PID控制器進行仿真分析,結(jié)果表明系統(tǒng)工作在穩(wěn)態(tài)點附近時,PID控制效果較好;當系統(tǒng)遠離穩(wěn)態(tài)點時,反饋線性化控制器效果較好。分析帶壓作業(yè)裝置雙路系統(tǒng)不同步因素,設(shè)計了主從方式、等同方式和交叉耦合式經(jīng)典同步控制方案。不同工況下,采用反饋線性化控制器對單路系統(tǒng)進行控制,仿真比較3種同步方案的同步誤差。結(jié)果表明交叉耦合方式的最大同步誤差為2.6mm,等同式最大同步誤差為3.3mm,主從方式的最大同步誤差為20.3mm。因此系統(tǒng)選用交叉耦合式同步控制方式。利用x PC Target模塊搭建單路系統(tǒng)和雙路系統(tǒng)控制模型,通過實驗驗證帶壓作業(yè)裝置舉升電液伺服系統(tǒng)的控制方案。由于非對稱閥控非對稱缸的特性與對稱閥控對稱缸特性相似,因此在現(xiàn)有設(shè)備基礎(chǔ)上,本實驗采用對稱閥控對稱缸。實驗結(jié)果進一步表明了單路系統(tǒng)采用反饋線性化控制是大范圍有效的,同步控制采用交叉耦合方式時同步誤差最小。
[Abstract]:The lifting mechanism is a key part of the pressure working device, which is usually driven synchronously by two hydraulic cylinder systems. The performance of the hydraulic system is very important to the whole pressure operation device. This paper analyzes and studies the lifting electro-hydraulic servo system in the working device with pressure. In view of the characteristics of the hydraulic system with long stroke and wide variation of the external load force, the asymmetric valve controlled asymmetric cylinder is adopted, and the nonlinear mathematical model of the single channel system is established, on the basis of which, the influence of the coupling of the two channels system is considered. The mathematical model of double path system is established. In view of the characteristic that the hydraulic lift system of the working device with pressure is required to run smoothly in a wide range, this paper analyzes the single-way system and adopts the feedback linearization theory based on differential geometry. The nonlinear system is transformed into a completely controllable linear system, which preserves the high order nonlinear term of the system, realizes the large-scale linearization, and analyzes the stability of its zero dynamics. The controller is designed by using the bounded tracking principle for the controllable system with large scale linearization. The disturbance observer of load disturbance force is designed because of the great influence of load disturbance force on the system. Under different operating conditions, the feedback linearization controller and PID controller are simulated and analyzed. The results show that the pid control effect is better when the system works near the steady point, and the feedback linearization controller is better when the system is far from the steady point. This paper analyzes the asynchronous factors of two-channel system with pressure operation device, and designs the master-slave mode, the equivalent mode and the cross-coupling classical synchronous control scheme. The feedback linearization controller is used to control the single channel system under different operating conditions, and the synchronization errors of the three synchronization schemes are compared by simulation. The results show that the maximum synchronization error of cross-coupling mode is 2.6 mm, that of equivalent mode is 3.3 mm, and that of master-slave mode is 20.3mm. Therefore, the system chooses cross-coupling synchronous control mode. The control model of single and double system is built by x PC Target module, and the control scheme of lifting electro-hydraulic servo system with pressure operation device is verified by experiment. Because the characteristic of asymmetric valve controlled asymmetric cylinder is similar to that of symmetrical valve controlled symmetric cylinder, the symmetrical valve controlled symmetrical cylinder is adopted in this experiment on the basis of existing equipment. The experimental results further show that the feedback linearization control is effective in a large range and the synchronization error is minimum when the synchronization control adopts the cross coupling mode.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TE93;TP271.31

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本文編號：2181303