本文選題：攤鋪機(jī) + 雙輸入雙輸出　； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：瀝青混凝土攤鋪機(jī)是道路建造中對路面平整度影響最大的筑路設(shè)備。本課題提出將攤鋪機(jī)縱坡和橫坡兩個(gè)單輸入單輸出(SISO)調(diào)平系統(tǒng)通過兩者之間的耦合作用結(jié)合成一個(gè)雙輸入雙輸出(TITO)調(diào)平控制系統(tǒng)的創(chuàng)新點(diǎn),完善調(diào)平系統(tǒng)數(shù)學(xué)模型,提高控制精度,并研究TITO調(diào)平系統(tǒng)的控制方法,實(shí)現(xiàn)調(diào)平裝置的高性能控制。本文研究內(nèi)容主要包括實(shí)驗(yàn)室攤鋪機(jī)模型調(diào)平系統(tǒng)設(shè)計(jì),SISO和TITO調(diào)平控制系統(tǒng)的建模,控制器的設(shè)計(jì)仿真以及實(shí)驗(yàn)研究。設(shè)計(jì)完善實(shí)驗(yàn)室攤鋪機(jī)模型,先確立調(diào)平裝置總體性能指標(biāo),設(shè)計(jì)攤鋪機(jī)調(diào)平裝置液壓系統(tǒng)和電氣系統(tǒng),選型并更新部分元器件,進(jìn)行組裝調(diào)試。用C++編程語言進(jìn)行控制軟件的設(shè)計(jì),按照控制實(shí)驗(yàn)內(nèi)容設(shè)計(jì)控制軟件的UI界面和編寫控制算法源代碼。在攤鋪機(jī)調(diào)平系統(tǒng)數(shù)學(xué)建模過程中,對于SISO縱坡和橫坡調(diào)平系統(tǒng)和TITO調(diào)平系統(tǒng)分別進(jìn)行建模,計(jì)算各環(huán)節(jié)傳遞函數(shù),并計(jì)算得到開環(huán)伯德圖和閉環(huán)階躍響應(yīng)曲線。并對SISO調(diào)平系統(tǒng)和TITO調(diào)平系統(tǒng)的連續(xù)傳遞函數(shù)進(jìn)行離散化,計(jì)算被控對象脈沖傳遞函數(shù)和差分方程。基于SISO調(diào)平系統(tǒng)和TITO調(diào)平系統(tǒng)被控對象的脈沖傳遞函數(shù),設(shè)計(jì)SISO調(diào)平系統(tǒng)和TITO調(diào)平系統(tǒng)PID控制器、SISO調(diào)平系統(tǒng)BP神經(jīng)網(wǎng)絡(luò)PID控制器和TITO調(diào)平系統(tǒng)DRNN神經(jīng)網(wǎng)絡(luò)PID控制器。在MATLAB軟件中編寫控制器的控制算法程序,完成控制器的參數(shù)整定及仿真,得到調(diào)平系統(tǒng)在4個(gè)控制器作用下,對應(yīng)仿真曲線和參數(shù)變化曲線�；谇笆鲈O(shè)計(jì)的四種控制器的算法編寫實(shí)驗(yàn)控制程序,在實(shí)驗(yàn)室攤鋪機(jī)模型上進(jìn)行調(diào)平系統(tǒng)控制實(shí)驗(yàn),并將實(shí)驗(yàn)結(jié)果分析比較。分析實(shí)驗(yàn)結(jié)果可知,TITO系統(tǒng)和SISO系統(tǒng)普通PID控制器的控制效果相似,證明了TITO調(diào)平控制系統(tǒng)的可行性;TITO系統(tǒng)DRNN神經(jīng)網(wǎng)絡(luò)PID控制器的控制效果相比普通PID控制器的控制效果有很大的提升,相比SISO系統(tǒng)BP神經(jīng)網(wǎng)絡(luò)PID控制器的控制效果有一定優(yōu)勢,證明了TITO調(diào)平系統(tǒng)DRNN神經(jīng)網(wǎng)絡(luò)PID控制方法的控制效果優(yōu)異,適用于TITO調(diào)平系統(tǒng)控制。
[Abstract]:Asphalt concrete paver is the most effective road equipment in road construction. In this paper, it is proposed that the leveling system of single input and single output (SISO) leveling system of paver should be combined with the coupling action between them to form an innovative point of leveling control system with double input and double output, and perfect the mathematical model of leveling system. The control precision is improved and the control method of tito leveling system is studied to realize the high performance control of leveling device. This paper mainly includes the design of model leveling system of laboratory paver, the modeling of SISO and TITO leveling control system, the design and simulation of controller and the experimental research. In order to design and perfect the model of laboratory paver, the general performance index of leveling device is established first, the hydraulic system and electric system of leveling device of paver are designed, some components are selected and updated, and some components are assembled and debugged. The control software is designed with C programming language, the UI interface of the control software is designed according to the content of the control experiment and the source code of the control algorithm is written. In the course of mathematical modeling of leveling system of paver, SISO vertical slope and horizontal slope leveling system and tito leveling system are modeled, each link transfer function is calculated, and open-loop Berd diagram and closed-loop step response curve are calculated. The continuous transfer function of SISO leveling system and tito leveling system is discretized and the pulse transfer function and difference equation of the controlled object are calculated. Based on the pulse transfer function of SISO leveling system and TITO leveling system, the SISO leveling system and TITO leveling system pid controller are designed. The SISO leveling system BP neural network pid controller and the TITO leveling system DRNN neural network pid controller are designed. The control algorithm program of the controller is written in MATLAB software, and the parameter setting and simulation of the controller are completed, and the corresponding simulation curve and parameter change curve of the leveling system under the action of four controllers are obtained. Based on the algorithms of the four kinds of controllers mentioned above, the control program of the experiment is compiled, and the control experiment of the leveling system is carried out on the model of the paver in the laboratory, and the experimental results are analyzed and compared. The experimental results show that the control effect of ordinary pid controller in Tito system and SISO system is similar. The feasibility of tito leveling control system is proved. The control effect of DRNN neural network pid controller of Tito system is improved greatly compared with that of ordinary pid controller, and the control effect is superior to that of SISO system BP neural network pid controller. It is proved that the pid control method of DRNN neural network for tito leveling system has excellent control effect and is suitable for tito leveling system control.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：U415.521;TP273

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 劉甘霖;沈玲;左是;;一種改進(jìn)型DRNN神經(jīng)網(wǎng)絡(luò)自學(xué)習(xí)PID控制[J];湖北工業(yè)職業(yè)技術(shù)學(xué)院學(xué)報(bào);2016年06期

2 張兵;鄧子龍;;基于Simulink的比例閥控液壓缸的建模與仿真[J];機(jī)械制造與自動(dòng)化;2016年03期

3 季學(xué)武;王健;趙又群;劉亞輝;臧利國;李波;;Path Planning and Tracking for Vehicle Parallel Parking Based on Preview BP Neural Network PID Controller[J];Transactions of Tianjin University;2015年03期

4 黃金俠;;瀝青混凝土攤鋪機(jī)自動(dòng)調(diào)平系統(tǒng)設(shè)計(jì)分析[J];黑龍江科技信息;2014年14期

5 白代萍;丁靜;何培英;張德海;;攤鋪機(jī)行走系統(tǒng)的智能控制技術(shù)研究[J];機(jī)床與液壓;2014年01期

6 張福生;;淺析攤鋪機(jī)控制系統(tǒng)技術(shù)的組成與發(fā)展[J];中小企業(yè)管理與科技(下旬刊);2013年10期

7 文增紅;;基于BP神經(jīng)網(wǎng)絡(luò)PID的控制系統(tǒng)研究[J];電腦知識與技術(shù);2013年28期

8 呂其惠;;瀝青混凝土攤鋪機(jī)自動(dòng)找平控制系統(tǒng)的結(jié)構(gòu)改進(jìn)[J];建筑機(jī)械化;2013年01期

9 黃瑛;;攤鋪機(jī)工作機(jī)構(gòu)的受力分析及自動(dòng)調(diào)平系統(tǒng)[J];煤炭技術(shù);2012年10期

10 常偉;;瀝青混凝土攤鋪機(jī)自動(dòng)調(diào)平電控系統(tǒng)[J];民營科技;2012年01期

相關(guān)博士學(xué)位論文 前1條

1 張新榮;瀝青混凝土攤鋪機(jī)熨平裝置動(dòng)力學(xué)模型與自動(dòng)找平數(shù)字式控制器的研究[D];長安大學(xué);2000年

相關(guān)碩士學(xué)位論文 前4條

1 李爽;基于BP神經(jīng)網(wǎng)絡(luò)PID多變量解耦控制的研究與應(yīng)用[D];沈陽大學(xué);2013年

2 皮亞東;攤鋪機(jī)自動(dòng)調(diào)平控制系統(tǒng)的研制[D];哈爾濱工業(yè)大學(xué);2007年

3 史海紅;攤鋪機(jī)模型研制及調(diào)平系統(tǒng)神經(jīng)網(wǎng)絡(luò)控制技術(shù)研究[D];哈爾濱工業(yè)大學(xué);2006年

4 張曉軍;瀝青混凝土攤鋪機(jī)自動(dòng)調(diào)平系統(tǒng)的研制[D];山東科技大學(xué);2005年

，

本文編號：2040747