發(fā)布時(shí)間：2018-06-14 19:12

  本文選題：沖擊式水輪機(jī) + 噴針��； 參考：《哈爾濱工業(yè)大學(xué)》2014年碩士論文

【摘要】：沖擊式水輪機(jī)中導(dǎo)流機(jī)構(gòu)性能直接決定了水斗的來流特性，對(duì)水輪機(jī)的水力效率和運(yùn)行壽命有重要影響,在沖擊式水輪機(jī)試驗(yàn)臺(tái)噴針系統(tǒng)設(shè)計(jì)課題中,對(duì)導(dǎo)流機(jī)構(gòu)噴嘴中噴針的同步控制進(jìn)行了研究。為了提高系統(tǒng)位置控制精度和自動(dòng)化水平，首次在噴針控制系統(tǒng)中使用電液伺服控制技術(shù)代替?zhèn)鹘y(tǒng)機(jī)械控制方式。多液壓缸系統(tǒng)的位移同步控制是現(xiàn)代電液伺服系統(tǒng)研究中的重難點(diǎn)，基于改善多噴針位置調(diào)節(jié)過程中同步特性的目的，本系統(tǒng)借鑒了電機(jī)同步中耦合控制策略，通過仿真和試驗(yàn)探究了相鄰交叉耦合、環(huán)形耦合及其與模型參考自適應(yīng)算法相結(jié)合時(shí)對(duì)系統(tǒng)同步控制的提升。 針對(duì)非對(duì)稱缸系統(tǒng)正反向動(dòng)態(tài)特性差異，本文中分別建立了電液伺服系統(tǒng)模型，，在此基礎(chǔ)上利用Z變換、差分方程得到伺服系統(tǒng)離散控制模型；噴針的位移調(diào)節(jié)要求高位置精度，對(duì)控制器設(shè)計(jì)提出了較高要求，本設(shè)計(jì)中應(yīng)用PID遺傳算法優(yōu)化的方式整定PID控制器參數(shù)，提高單一回路系統(tǒng)性能；同步控制策略上，將多電機(jī)位移同步控制中采用耦合策略移植到液壓伺服同步控制系統(tǒng)中，通過LabVIEW軟件進(jìn)行系統(tǒng)仿真，研究了算法特性；為了進(jìn)一步改善系統(tǒng)對(duì)階躍信號(hào)響應(yīng)同步控制精度以及控制過程的穩(wěn)定性，設(shè)計(jì)了模型參考自適應(yīng)控制器（MRAC），并將MRAC與耦合算法相結(jié)合在一定程度上改善了系統(tǒng)同步性能。 在哈爾濱電機(jī)廠沖擊式水力試驗(yàn)臺(tái)對(duì)噴針同步控制系統(tǒng)進(jìn)行了試驗(yàn)研究，試驗(yàn)結(jié)果驗(yàn)證了耦合同步策略控制下系統(tǒng)同步性能大幅提升的仿真結(jié)果；分析對(duì)比耦合同步策略及其與模型參考自適應(yīng)算法相結(jié)合時(shí)系統(tǒng)的同步特性，MRAC相鄰交叉耦合控制器擁有最優(yōu)的控制效果，其階躍響應(yīng)同步偏差減小至原始系統(tǒng)的26.7%，多頻率正弦信號(hào)響應(yīng)均小于原始系統(tǒng)的16.7%，偏差信號(hào)標(biāo)準(zhǔn)差減小，系統(tǒng)控制穩(wěn)定性增強(qiáng)。研究結(jié)果表明模型參考自適應(yīng)相鄰耦合控制算法對(duì)本伺服系統(tǒng)同步性能優(yōu)化效果明顯，位置同步精度、控制穩(wěn)定性等指標(biāo)都有不同程度的提升，達(dá)到使用要求，保證了多噴針調(diào)節(jié)過程的精確同步控制。
[Abstract]:The performance of the diversion mechanism in the impinging turbine directly determines the characteristics of the inlet flow of the bucket, and has an important effect on the hydraulic efficiency and operation life of the turbine. In the design project of the injection needle system of the impact-type hydraulic turbine test bed, The synchronous control of injection needle in nozzle of diversion mechanism is studied. In order to improve the precision and automation of the system position control, the electro-hydraulic servo control technology is used to replace the traditional mechanical control method in the injection needle control system for the first time. The displacement synchronization control of multi-cylinder system is a difficult point in the research of modern electro-hydraulic servo system. Based on the purpose of improving the synchronization characteristics in the process of multi-injection needle position adjustment, the system uses the coupling control strategy in motor synchronization for reference. By simulation and experiment, this paper explores the improvement of the synchronization control of the system when the adjacent cross-coupling, the ring coupling and the model reference adaptive algorithm are combined together. Aiming at the difference of the positive and backward dynamic characteristics of the asymmetric cylinder system, the electro-hydraulic servo system model is established in this paper, and the discrete control model of the servo system is obtained by using the Z transform and the difference equation. The displacement adjustment of the injection needle requires high position precision, and puts forward a higher requirement to the controller design. In this design, the pid controller parameters are optimized by using pid genetic algorithm to improve the performance of the single loop system. The coupling strategy is transplanted to the hydraulic servo synchronous control system in the multi-motor displacement synchronization control system. The system simulation is carried out by LabVIEW software, and the algorithm characteristic is studied. In order to further improve the synchronization control accuracy and the stability of the control process, a model reference adaptive controller (MRAC) is designed, and the synchronization performance of the system is improved to a certain extent by combining MRAC with the coupling algorithm. The synchronous control system of injection needle was tested on the impact hydraulic test bench of Harbin Electric Machinery Factory. The simulation results of the synchronization performance of the system under the coupled synchronization strategy were verified. This paper analyzes and compares the synchronization characteristics of the system with the coupled synchronization strategy and its combination with the model reference adaptive algorithm. The MRAC adjacent cross-coupling controller has the optimal control effect. The synchronous deviation of the step response is reduced to 26.7b of the original system, and the multi-frequency sinusoidal signal response is smaller than the original system's 16.7. the deviation signal standard deviation is reduced, and the control stability of the system is enhanced. The results show that the model reference adaptive adjacent coupling control algorithm can improve the synchronization performance of the servo system to some extent, such as the precision of position synchronization and the stability of control. The accurate synchronization control of the multi-injection needle adjustment process is ensured.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TK735

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