本文關(guān)鍵詞： 高圍壓加載 STM32 交流伺服電機 模糊PID Simulink　出處：《大連理工大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：近年來,水利水電工程得到了極大的發(fā)展,涌現(xiàn)了一批巨大而復(fù)雜的土石壩建設(shè)項目。大型土石壩數(shù)量的劇增帶來很多技術(shù)方面的難題,特別是大型土石壩壩基抗震設(shè)計參數(shù)難測定,成為建設(shè)施工方亟待解決的問題。目前壩基抗震設(shè)計參數(shù)的測定通常在實驗室借助三軸試驗來完成,而國內(nèi)外三軸試驗中尚缺少能夠模擬300米(3MPa)壩高的高圍壓水壓加載系統(tǒng),因此亟需設(shè)計一套具有較高靜態(tài)加載精度和較好動態(tài)特性的動三軸儀高圍壓徑向加載系統(tǒng)來滿足實驗和實際工程的需求。本文在國家自然科學(xué)基金項目(51275068)的支持下,結(jié)合實驗室三軸設(shè)備,開發(fā)出一套以STM32和交流伺服電機為核心的動三軸高圍壓水壓加載系統(tǒng),本文的研究方法和內(nèi)容主要有以下幾個方面：首先,通過對國內(nèi)外文獻研究成果的大量調(diào)研,詳細介紹了三軸試驗高圍壓加載裝置的具體實現(xiàn)方式、水壓傳動技術(shù)的發(fā)展現(xiàn)狀及模糊控制的相關(guān)理論,提出了以單片機和伺服電機為控制核心的總體控制方案,并完成了相關(guān)硬件電路和機械零部件的設(shè)計及選型。其次,剖析了交流伺服電機的矢量控制技術(shù),重點建立了交直軸坐標(biāo)系下的電機雙閉環(huán)控制模型,進而得出整個動三軸高圍壓加載系統(tǒng)的數(shù)學(xué)模型,在此基礎(chǔ)上分析了系統(tǒng)的穩(wěn)定性,并介紹了臨界比例帶法PID初值參數(shù)整定過程。然后,針對動三軸高圍壓徑向加載系統(tǒng)控制對象非線性、參數(shù)時變性等復(fù)雜情況嘗試運用模糊控制對PID參數(shù)進行在線整定。基于系統(tǒng)建立的模糊控制器和高圍壓加載系統(tǒng)數(shù)學(xué)模型,借助于S imulink工具箱,對系統(tǒng)進行動靜態(tài)仿真和分析,仿真結(jié)果表明模糊PID的動態(tài)特性和適應(yīng)性更好,相位滯后較常規(guī)PID減少了16.7%,綜合效果要好于常規(guī)PID。最后,借助于LabVIEW和RVMDK軟件設(shè)計開發(fā)平臺,進行了上位機界面和下位機程序的調(diào)試和設(shè)計,在此基礎(chǔ)上完成實驗驗證工作。通過實驗的方法標(biāo)定水壓力與活塞位移之間的函數(shù)模型并用三階指數(shù)擬合其關(guān)系曲線。針對模糊PID和傳統(tǒng)PID,分別給定系統(tǒng)相同的輸入信號,實驗結(jié)果表明,模糊PID較傳統(tǒng)PID穩(wěn)態(tài)精度更高。階躍響應(yīng)實驗中超調(diào)量較常規(guī)PID減少了20.7%,響應(yīng)較快,動態(tài)特性優(yōu)于常規(guī)PID。典型周期信號實驗表明系統(tǒng)低頻下的動態(tài)特性優(yōu)于高頻,同時加載系統(tǒng)能夠做到5‰的靜態(tài)加載精度和0.01～5Hz的動態(tài)加載頻率,達到了系統(tǒng)設(shè)計目標(biāo)。
[Abstract]:In recent years, water conservancy and hydropower projects have been greatly developed, and a number of huge and complex earth-rock dam construction projects have emerged. The rapid increase in the number of large earth-rock dams has brought a lot of technical problems. Especially, it is difficult to determine the seismic design parameters of large earth-rock dam foundation, which is an urgent problem to be solved. At present, the determination of seismic design parameters of dam foundation is usually completed by means of triaxial test in laboratory. However, in the triaxial tests at home and abroad, there is still no high confining pressure hydraulic loading system which can simulate the dam height of 300m ~ 3MPa. Therefore, it is urgent to design a high confining pressure radial loading system with higher static loading accuracy and better dynamic characteristics to meet the needs of experiment and practical engineering. 51275068). Combined with the laboratory triaxial equipment, a dynamic three-axis high confining pressure hydraulic loading system with STM32 and AC servo motor as the core is developed. The research methods and contents of this paper are as follows: firstly. Through a large number of domestic and foreign literature research results, the paper introduces in detail the concrete realization mode of high confining pressure loading device in triaxial test, the development status of hydraulic transmission technology and the relevant theory of fuzzy control. The overall control scheme based on single chip microcomputer and servo motor is put forward, and the design and selection of related hardware circuit and mechanical parts are completed. Secondly, the vector control technology of AC servo motor is analyzed. The double closed loop control model of the motor in the cross axis coordinate system is established, and the mathematical model of the whole dynamic three axis high confining pressure loading system is obtained, and the stability of the system is analyzed. The process of setting the initial values of PID by the critical proportional belt method is introduced. Then, the nonlinear control object of the radial loading system with dynamic triaxial high confining pressure is presented. In complex cases such as time-varying parameters, fuzzy control is used to adjust the parameters of PID online. The fuzzy controller and the mathematical model of high confining pressure loading system are established based on the fuzzy controller and the mathematical model of high confining pressure loading system. With the help of S imulink toolbox, the dynamic and static simulation of the system is carried out. The simulation results show that the dynamic characteristics and adaptability of fuzzy PID are better. The phase lag is 16.7 less than the conventional PID, and the comprehensive effect is better than the conventional PID. Finally, with the help of LabVIEW and RVMDK software design and development platform. Debugging and design of upper computer interface and lower computer program are carried out. The function model between water pressure and piston displacement is calibrated by the experimental method and its relation curve is fitted with the third order exponent. For fuzzy PID and traditional PID. Given the same input signal of the system, the experimental results show that the fuzzy PID is more accurate than the conventional PID in steady state, and the overshoot in the step response experiment is reduced by 20.7and the response is faster than that of the conventional PID. The dynamic characteristics of the system are better than those of the conventional PID.The typical periodic signal experiments show that the dynamic characteristics of the system at low frequency are better than those at high frequency. At the same time, the loading system can achieve static loading accuracy of 5 鈥，

本文編號：1488934