本文關(guān)鍵詞： 側(cè)翻設(shè)備 智能 可移動 PID控制 MATLAB仿真　出處：《安徽工程大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著煤炭、化工和農(nóng)業(yè)等產(chǎn)業(yè)的快速發(fā)展,人們對交通運輸工具的安全及卸貨效率提出了更高的要求。目前市場上的自卸車在卸載大重量貨物的過程中出現(xiàn)了卸載效率低,容易傾覆且輸出功率不夠的情況。市場上現(xiàn)有的液壓翻板卸車機(jī)能夠?qū)崿F(xiàn)自卸車的輔助卸貨,但是存在卸載地點固定的缺陷以及傾斜角度過大易傾覆的安全問題。本課題旨在設(shè)計一款智能型液壓側(cè)翻卸車設(shè)備,該設(shè)備創(chuàng)新性地結(jié)合了自卸車的可移動性與液壓翻板卸車機(jī)的大功率特點,該設(shè)備安裝有萬向輪升降系統(tǒng)實現(xiàn)設(shè)備的可移動,旋轉(zhuǎn)支架和檔板等裝置的安裝有效防止在卸車過程中發(fā)生設(shè)備側(cè)滑與貨車傾覆;采用同步閥實現(xiàn)側(cè)翻過程中三缸同舉,并采用力伺服液壓控制系統(tǒng),能夠?qū)Σ煌|(zhì)量負(fù)載實現(xiàn)對應(yīng)的負(fù)載力輸出。本論文擬定適合智能型液壓側(cè)翻設(shè)備的總體方案,依據(jù)貨車的規(guī)格尺寸和載重量確定側(cè)翻設(shè)備的設(shè)計參數(shù),對側(cè)翻設(shè)備各個子機(jī)構(gòu)進(jìn)行創(chuàng)新性設(shè)計,實現(xiàn)設(shè)備的可移動、大功率輸出以及高效智能側(cè)翻,并能防止在卸車過程中發(fā)生設(shè)備側(cè)滑與貨車傾覆;對側(cè)翻設(shè)備的穩(wěn)定性研究,驗證了貨車傾斜至極限角度時不會發(fā)生傾覆事故,保證卸車過程的安全性;根據(jù)結(jié)構(gòu)方案設(shè)計出以力伺服閥為核心的液壓控制系統(tǒng),繪制出側(cè)翻設(shè)備控制系統(tǒng)的液壓控制系統(tǒng)原理圖,依據(jù)設(shè)計參數(shù)對各液壓元件進(jìn)行選型,完成管道壓力損失驗算和溫升校核,并利用AMESIM軟件對液壓系統(tǒng)進(jìn)行仿真,進(jìn)一步驗證液壓控制系統(tǒng)原理圖的合理性;建立側(cè)翻設(shè)備控制系統(tǒng)的數(shù)學(xué)模型,得到控制系統(tǒng)的傳遞函數(shù)并推導(dǎo)出狀態(tài)方程;根據(jù)力伺服閥參數(shù)計算得到傳遞函數(shù)的所有參數(shù)值,利用傳遞函數(shù)在MATLAB軟件中進(jìn)行仿真,輸出控制系統(tǒng)的伯德圖和奈奎斯特曲線,利用頻率法和李亞譜諾夫穩(wěn)定性分析確定控制系統(tǒng)穩(wěn)定,對系統(tǒng)的能控性和能觀性分析,確定控制系統(tǒng)完全能控能觀,并采用極點配置法優(yōu)化側(cè)翻設(shè)備控制系統(tǒng),提升其性能指標(biāo);利用工程經(jīng)驗法確定PID控制器的參數(shù),從而減小控制系統(tǒng)的穩(wěn)態(tài)誤差,進(jìn)一步提高側(cè)翻設(shè)備控制系統(tǒng)的性能。后期將根據(jù)控制系統(tǒng)的參數(shù)和仿真結(jié)果對樣機(jī)進(jìn)行驗證性實驗,驗證結(jié)構(gòu)方案和控制方案的可行性,并最終在卸車領(lǐng)域發(fā)揮作用。
[Abstract]:With the rapid development of coal, chemical and agricultural industries. People have put forward higher requirements for the safety and unloading efficiency of transportation vehicles. At present, the unloading efficiency of dump trucks in the market has been low in the process of unloading heavy cargo. It is easy to overturn and the output power is not enough. The existing hydraulic tipboard unloader on the market can realize the auxiliary unloading of the dump truck. However, there are the defects of fixed unloading location and the safety problem of oversized tilt angle. The purpose of this paper is to design an intelligent hydraulic rollover unloading equipment. The device innovatively combines the mobility of the dump truck and the high power characteristics of the hydraulic flip truck unloader. The device is equipped with a universal wheel lift system to realize the mobility of the equipment. The installation of rotating support and gear plate effectively prevents the side slip of the equipment and the overturning of the truck during the unloading process; The synchronous valve is used to realize the simultaneous lifting of three cylinders during the rollover process and the force servo hydraulic control system is adopted. It can output the load force to different mass load. In this paper, the overall scheme suitable for intelligent hydraulic rollover equipment is drawn up, and the design parameters of the rollover equipment are determined according to the size and load capacity of the truck. The innovative design of each sub-mechanism of the rollover device can realize the mobility of the equipment, the high power output and the high efficiency intelligent rollover, and can prevent the side slip of the equipment and the overturning of the truck during the unloading process. The research on the stability of the rollover equipment verifies that the overturning accident will not occur when the truck tilts to the limit angle, which ensures the safety of the unloading process. According to the structure scheme, the hydraulic control system with force servo valve as the core is designed, and the hydraulic control system schematic diagram of the rollover equipment control system is drawn, and the hydraulic components are selected according to the design parameters. Complete the pipeline pressure loss check and temperature rise check, and use AMESIM software to simulate the hydraulic system, further verify the rationality of the hydraulic control system schematic diagram; The mathematical model of the control system of the rollover equipment is established, the transfer function of the control system is obtained and the equation of state is derived. All the parameters of the transfer function are calculated according to the parameters of the force servo valve, and the transfer function is used to simulate the control system in MATLAB software, and the control system's Byrd diagram and Nyquist curve are outputted. The frequency method and Li Ya's stability analysis are used to determine the stability of the control system, and the controllability and observability of the control system are analyzed to determine the complete controllability of the control system. The pole assignment method is used to optimize the control system of rollover equipment to improve its performance index. The parameters of the PID controller are determined by using the engineering experience method to reduce the steady-state error of the control system. Further improve the performance of the control system of the rollover equipment. According to the parameters of the control system and simulation results of the prototype to verify the feasibility of the structure and control scheme. And finally in the unloading field to play a role.
【學(xué)位授予單位】：安徽工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH24;TP273

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 周紅兵;葉際生;;韶鋼門式螺旋卸車機(jī)技術(shù)改造實踐[J];南方金屬;2016年05期

2 余貴珍;李芹;王云鵬;王迪;;車輛彎道行駛側(cè)傾穩(wěn)定性分析與側(cè)翻預(yù)警研究[J];北京工業(yè)大學(xué)學(xué)報;2014年04期

3 史敬灼;劉玉;;超聲電機(jī)簡單專家PID速度控制[J];中國電機(jī)工程學(xué)報;2013年36期

4 李延波;;端頭支架及超前支架側(cè)翻梁機(jī)構(gòu)的優(yōu)化[J];煤礦機(jī)械;2013年07期

5 王振;;力反饋電液伺服閥的建模與仿真[J];科學(xué)技術(shù)與工程;2012年24期

6 劉莉宏;;基于智能控制的PID控制方式的研究[J];北京工業(yè)職業(yè)技術(shù)學(xué)院學(xué)報;2012年02期

7 吳新燁;葛曉宏;羅樹友;黃紅武;;汽車側(cè)翻穩(wěn)定性研究[J];廈門大學(xué)學(xué)報(自然科學(xué)版);2010年06期

8 夏毅敏;暨智勇;蘭仁清;周喜溫;;220t電動輪自卸車舉升液壓缸的設(shè)計及仿真分析[J];機(jī)床與液壓;2010年17期

9 徐建方;李靜;盛彩霞;;2T地面翻矸裝置(側(cè)翻機(jī))系統(tǒng)在立井井筒二次改裝期間的加工及應(yīng)用[J];內(nèi)江科技;2010年02期

10 王樹鳳;李華師;;自卸車舉升機(jī)構(gòu)的仿真與優(yōu)化設(shè)計[J];拖拉機(jī)與農(nóng)用運輸車;2009年04期

，

本文編號：1472838