液压提升机电液比例伺服系统研究
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摘要
液压提升机作为矿山的关键设备,广泛应用于井下人员、物料的提升和下放,是典型的大惯量、变参数、时滞非线性液压系统。现有液压提升机控制系统为手动开环控制,存在自动化水平低、控制精度不高、驱动系统与制动系统工作协同性差等问题,严重影响矿井提升系统的效率和安全生产。为提高矿井液压提升机的控制性能,将电液比例伺服技术应用于液压提升机,建立了液压提升机电液比例伺服控制系统,实现了液压提升机速度控制系统的闭环自动控制和驱动与制动系统协同工作。
基于A4VSO电液比例伺服变量泵的数学模型,通过仿真分析了该泵的性能特点以及斜盘反力对变量机构的影响;采用广义误差平方积分性能指标最优进行PI校正,得到了变量泵系统的最优PI控制参数;对校正后的变量泵动、静态性能进行了实验测试。建立了电液比例伺服速度控制系统数学模型,针对其时滞、变参数和大惯量负载特性,分别开展了PID优化控制和模糊PID-Smith预估优化控制的研究,对不同控制策略下系统的稳定性和对负载变化的适应性进行了分析、对比,结果表明,模糊PID-Smith预估优化控制能够更好地满足液压提升机对控制性能的要求。对液压提升机常规制动系统的动态特性进行了理论分析,得到了影响制动系统响应时间的主要因素和影响规律,指出提升负载的大范围变化是驱动系统与制动系统无法协同工作的根本原因;把电液比例控制和模糊控制策略引入液压提升机制动系统,建立了液压提升机模糊自协同制动系统。为验证和实现上述控制策略及分析结果,开发了液压提升机电液比例伺服实验系统并进行了相关实验。从模型的建立、控制策略分析研究、试验结果验证各方面系统地进行了液压提升机电液比例伺服控制系统的性能分析研究,对液压提升机控制系统的设计、改造具有理论指导意义和实用价值。
Hydraulic hoister is widely used in lifting and droppin personnel and materiel as a important equipment of mine, which is a typical hydraulic system with large inertia, time-varying parameters and time delay non-linear properties. The existing hydraulic hoister control system seriously affects the efficiency of mine hoisting system and production safety, due to its manual open-loop control which result in low control level, poor precision and lack of cooperation between the driving and braking system. The electro-hydraulic proportional servo technology is applied in hydraulic hoister to improve the control level, so the electro-hydraulic proportional servo system for hydraulic hoister is established, the close loop automatic speed control system and working cooperation between the driving system and braking system of hydraulic hoister is achieved.
Based on the dynamic machematic model of A4VSO electro-hydraulic proportional servo variable displacement pump, the performance of pump and the influence of oblique plate reacting force to variable displacement mechanism is analyzed through simulation. The optimized PI parameters were gained by adopting PI adjustment aimed for generalized error square integral optimization, the dynamic and steady performances of adjusted variable displacement pump were tested. The mathematical model of electro-hydraulic proportional servo speed control system was established and the study on PID optimizing control and fuzzy PID smith pre-estimated optimizing control were promoted aimed at the properties of time delay, varying parameters and large inertia load. Through the analysis and comparison of the stability and adaptability with variational inertia load under different control policy, the result indicated that fuzzy PID smith pre-estimated optimizing control can satisfy the control performances of hydraulic hoister.The main facts that influenced response time of braking system is gained through the dynamic performances analysis of existing hydraulic hoister braking system, and the basal reason of lack of cooperation between the driving system and braking system is widely variable load were indicated. The fuzzy auto-cooperating braking system of hydraulic hoister is established through the application of electro-hydraulic proportional control technic and fuzzy control policy. The experimental platform of hydraulic hoister electro-hydraulic proportional servo system was built up, and the relational experiment is done to realize above control policies and validate analysis results.This dissertation analyzed the performance of hydraulic hoister electro-hydraulic proportional servo system through the establishment of the model, the research of control policy, the verification of the test results, it has theoretical significance and practical value to the design and reconstruction of hydraulic hoister.
基于A4VSO电液比例伺服变量泵的数学模型,通过仿真分析了该泵的性能特点以及斜盘反力对变量机构的影响;采用广义误差平方积分性能指标最优进行PI校正,得到了变量泵系统的最优PI控制参数;对校正后的变量泵动、静态性能进行了实验测试。建立了电液比例伺服速度控制系统数学模型,针对其时滞、变参数和大惯量负载特性,分别开展了PID优化控制和模糊PID-Smith预估优化控制的研究,对不同控制策略下系统的稳定性和对负载变化的适应性进行了分析、对比,结果表明,模糊PID-Smith预估优化控制能够更好地满足液压提升机对控制性能的要求。对液压提升机常规制动系统的动态特性进行了理论分析,得到了影响制动系统响应时间的主要因素和影响规律,指出提升负载的大范围变化是驱动系统与制动系统无法协同工作的根本原因;把电液比例控制和模糊控制策略引入液压提升机制动系统,建立了液压提升机模糊自协同制动系统。为验证和实现上述控制策略及分析结果,开发了液压提升机电液比例伺服实验系统并进行了相关实验。从模型的建立、控制策略分析研究、试验结果验证各方面系统地进行了液压提升机电液比例伺服控制系统的性能分析研究,对液压提升机控制系统的设计、改造具有理论指导意义和实用价值。
Hydraulic hoister is widely used in lifting and droppin personnel and materiel as a important equipment of mine, which is a typical hydraulic system with large inertia, time-varying parameters and time delay non-linear properties. The existing hydraulic hoister control system seriously affects the efficiency of mine hoisting system and production safety, due to its manual open-loop control which result in low control level, poor precision and lack of cooperation between the driving and braking system. The electro-hydraulic proportional servo technology is applied in hydraulic hoister to improve the control level, so the electro-hydraulic proportional servo system for hydraulic hoister is established, the close loop automatic speed control system and working cooperation between the driving system and braking system of hydraulic hoister is achieved.
Based on the dynamic machematic model of A4VSO electro-hydraulic proportional servo variable displacement pump, the performance of pump and the influence of oblique plate reacting force to variable displacement mechanism is analyzed through simulation. The optimized PI parameters were gained by adopting PI adjustment aimed for generalized error square integral optimization, the dynamic and steady performances of adjusted variable displacement pump were tested. The mathematical model of electro-hydraulic proportional servo speed control system was established and the study on PID optimizing control and fuzzy PID smith pre-estimated optimizing control were promoted aimed at the properties of time delay, varying parameters and large inertia load. Through the analysis and comparison of the stability and adaptability with variational inertia load under different control policy, the result indicated that fuzzy PID smith pre-estimated optimizing control can satisfy the control performances of hydraulic hoister.The main facts that influenced response time of braking system is gained through the dynamic performances analysis of existing hydraulic hoister braking system, and the basal reason of lack of cooperation between the driving system and braking system is widely variable load were indicated. The fuzzy auto-cooperating braking system of hydraulic hoister is established through the application of electro-hydraulic proportional control technic and fuzzy control policy. The experimental platform of hydraulic hoister electro-hydraulic proportional servo system was built up, and the relational experiment is done to realize above control policies and validate analysis results.This dissertation analyzed the performance of hydraulic hoister electro-hydraulic proportional servo system through the establishment of the model, the research of control policy, the verification of the test results, it has theoretical significance and practical value to the design and reconstruction of hydraulic hoister.
引文
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