高大空间火灾模拟及探测平台电液驱动系统关键技术研究
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摘要
随着高大空间建筑的迅猛发展和广泛应用,针对高大空间建筑场所如何防火、控火、灭火等消防安全问题展开的科学研究已成为世界各国的消防科研人员在火灾科学和消防科技领域的重要研究课题。但由于设备技术条件的限制,长期以来有关高大空间建筑的消防科学技术研究多集中于火灾的计算机数值模拟等方法而非实体火灾模型。高大空间火灾模拟及探测平台是我国“十一五”期间为了开展基于实体火灾模型的高大空间建筑的消防科学技术研究而由“十一五”国家科技支撑计划专题项目支持研制的大空间火灾科学研究设备。该设备是一个重约75吨、长宽均33.0米、高度2.2米的正放四角锥双层网架结构的大型竖直升降平台,如何驱动该升降平台在3～24m的竖直净空高度范围内实现连续同步升降和精确定位控制是该设备研制过程所面临的最关键的技术难题。论文针对该高大空间火灾模拟及探测平台几何跨度大、负载重且不均衡、升降行程长且易变形等结构特点,综合机械传动,电液控制、系统仿真、智能控制等相关技术或理论,设计研制了一套高大空间火灾模拟及探测平台的电液同步驱动系统,并围绕着该电液同步驱动系统的驱动机理、驱动结构以及同步控制策略等相关的关键技术进行了深入的理论分析、设计和试验研究,并最终实现了高大空间火灾模拟及探测平台的大范围高精度同步升降控制。论文的主要研究内容如下：
第一章,首先从高大空间建筑存在的消防安全问题出发,阐述了目前高大空间火灾自动探测报警技术的研究现状,指出了高大空间火灾模拟及探测平台对开展消防科学研究的重要性,接着概述了目前此类大型重载升降平台的驱动系统所涉及的各种关键技术的研究现状及发展情况,并重点阐述了目前电液同步控制技术的研究和应用现状；最后概括了论文的研究意义和主要研究内容。
第二章,针对高大空间火灾模拟及探测平台几何跨度大、负载重且不均衡、升降行程长,易变形的特点,首先通过ANSYS仿真软件对平台的驱动吊点的数量及布置方案进行了优化设计,设计提出了三点机械对重+三点柱塞缸侧置2：1顶升的电液同步驱动机理；其次对该平台电液同步驱动系统的机械结构的实现进行了详细的设计与研究,给出了平台的总体驱动结构；最后对平台的三柱塞缸电液同步驱动系统进行了原理和集成设计,并介绍了平台监测控制系统的结构原理设计以及硬件的集成设计
第三章,以阀控柱塞缸机构的数学模型为基础,分析建立了高大空间火灾模拟及探测平台三柱塞缸电液同步驱动系统的非线性数学模型；并以建立的系统模型为基础,借助AMESim仿真软件建立了两柱塞缸电液同步控制系统的仿真模型,并对影响系统同步控制性能的因素进行了仿真分析,仿真结果表明对三柱塞缸电液同步控制系统的同步控制策略进行研究的必要性。
第四章,主要研究高大空间火灾模拟及探测平台电液驱动系统的智能自适应同步控制策略---模型参考模糊自适应电液同步控制策略。通过对模型参考自适应控制原理、模糊逻辑控制理论的研究与分析,采用模糊逻辑控制理论设计模型参考自适应控制器的自适应律以实现三个支路对同一个期望参考模型动态和稳态输出特性的高精度实时跟踪控制,从而提高三个支路的同步控制性能。随后在AMESim/Simulink联合仿真平台上分别采用模型参考模糊自适应电液同步控制策略和单支路PID同步控制策略进行了对比仿真实验,验证了所设计的模型参考模糊自适应电液同步控制策略具有良好的动态、稳态性能以及鲁棒性。
第五章,首先详细介绍了高大空间火灾模拟及探测平台电液同步驱动系统的PLC控制软件的结构设计以及基于WinCC组态软件的人机操作界面的设计开发；其次,分别采用传统PID控制策略和模型参考模糊自适应电液同步控制策略对平台的电液同步驱动系统进行了对比试验研究,试验结果验证了论文所提出的三点机械对重十三点柱塞缸侧置2：1顶升的电液同步驱动机理和驱动结构设计的合理性、可靠性以及工程实用性,也表明了所设计的智能同步控制策略的自适应性和鲁棒性等；最后介绍了该平台在消防科学研究中的初步应用情况。
第六章,总结了本论文的主要研究工作和创新点,并对下一步研究工作进行了展望。
With the rapid development and wide application of large space building, some large space building fire issues, such as safety, fire control, fire fighting, have become more important cosmopolitan research topics in fire science and technology field for researchers. However, because of the poor equipment and conditions, the studies on the large space building fire technology mainly depend on the computer simulation rather than the entity fire model. As a crucial large space fire research instrument during the China's'Eleventh Five-Year Plan', a large space fire simulation&detection platform was developed to conduct large space building fire research based on entity fire model under the support of the National Science and Technology Support Program. The vertical-lifting platform is a large squared cone, double-layered grid structure with about75ton weight,33m length and33m width. The synchronous motion control and the precise positioning of the large platform in the vertical range from3to24m are key issues of the instrument. Considering some characteristics of the large space fire simulation&detection platform, such as large spatial span, heavy and unbalanced load, long stroke and large deformation, an electro-hydraulic synchronization driving system for the large space fire simulation&detection platform is designed and developed by integrating mechanical transmission, electro-hydraulic control, system simulation, intelligent control and other related theories and techniques in the dissertation. The driving principle, control method and some other related technical issues in the electro-hydraulic synchronization driving system are detailedly presented through both the theoretical analysis and the experimental studies. Results show that the high-precision synchronous lifting control for the platform in the large spatial span can be achieved successfully. The main contents of the dissertation are as follows:
In the first chapter, starting with the large space building fire safety problems, the present automatic fire detection and alarm techniques for the large space building are discussed. The significance of the large space fire simulation and detection platform for fire research is demonstrated. Then the current application and research progress about some key technologies in the large vertical-lifting system such as electro-hydraulic synchronization motion control are described. Finally, the main research topics and the significance of this dissertation are summarized briefly.
Chapter Ⅱ, considering the characteristics of the large space fire simulation&detection platform, such as large spatial span, heavy and unbalanced load, long stroke and large deformation, the numbers of the supporting point and the layout of the suspension system for the platform are optimized in ANSYS, and a new electro-hydraulic synchronization driving principle, namely, a driving principle with three machinery-counterweights and three plunger-cylinders, is brought forward. Meanwhile, the mechanical structures of the electro-hydraulic synchronization driving system are designed and studied detailedly, the platform's overall driving structure is proposed. Finally, the principle and integration design for three-cylinder electro-hydraulic synchronization driving system, the monitoring and the control system are presented.
Chapter III, a nonlinear mathematical model of the three-plunger-cylinder electro-hydraulic synchronization driving system for the large space fire simulation&detection platform is established based on the mathematical model of the valve-controlled plunger-cylinder mechanism. Meanwhile, a simulation model of the two-plunger-cylinder electro-hydraulic synchronization control system is built in AMESim.Thenvarious parameters affecting synchronous control accuracy are analyzed in AMESim. The simulation results show that it is necessary to study the synchronization strategy for the three-plunger-cylinder electro-hydraulic synchronization driving system of the large space fire simulation&detection platform.
In chapter IV, based on the studies on the model reference adaptive control theory and fuzzy logic control theory, an intelligent adaptive synchronization strategy for the electro-hydraulic driving system of the large space fire simulation&detection platform---fuzzy adaptive eletro-hydraulic synchronization strategy on the basis of ideal reference model is proposed to achieve the synchronous motion of the three cylinders. The adaptive controller is designed based on fuzzy control logic theory to make each cylinder track the high-precision real-time dynamic and steady-state output of the same reference model. Thereby, the synchronous motion control performance of the three cylinders is greatly improved. Then, with the AMESim/Simulink co-simulation, the comparison between fuzzy model reference adaptive synchronization control strategy and PID control strategy is implemented in the simulation. Simulation results verify that the proposed controller has a satisfactory static and dynamic performance and robustness.
In Chapter V, the development for the PLC control system and the man-machine interface software based on WinCC for the electro-hydraulic synchronization driving system of the large space fire simulation&detection platform are introduced firstly. Then, the comparison between the conventional PID control strategy and model reference fuzzy adaptive electro-hydraulic synchronization control strategy are carried out based on the electro-hydraulic synchronization driving system in the experiment. The experimental results verify the rationality, reliability and practice of the driving principle and structure proposed in the dissertation. Meanwhile, the adaptability and robustness of the proposed control method are also verified. The preliminary application of this fire research platform is presented.
Chapter Ⅵ, main research work and the innovation of the dissertation are summarized and future research work is prospected.
第一章,首先从高大空间建筑存在的消防安全问题出发,阐述了目前高大空间火灾自动探测报警技术的研究现状,指出了高大空间火灾模拟及探测平台对开展消防科学研究的重要性,接着概述了目前此类大型重载升降平台的驱动系统所涉及的各种关键技术的研究现状及发展情况,并重点阐述了目前电液同步控制技术的研究和应用现状；最后概括了论文的研究意义和主要研究内容。
第二章,针对高大空间火灾模拟及探测平台几何跨度大、负载重且不均衡、升降行程长,易变形的特点,首先通过ANSYS仿真软件对平台的驱动吊点的数量及布置方案进行了优化设计,设计提出了三点机械对重+三点柱塞缸侧置2：1顶升的电液同步驱动机理；其次对该平台电液同步驱动系统的机械结构的实现进行了详细的设计与研究,给出了平台的总体驱动结构；最后对平台的三柱塞缸电液同步驱动系统进行了原理和集成设计,并介绍了平台监测控制系统的结构原理设计以及硬件的集成设计
第三章,以阀控柱塞缸机构的数学模型为基础,分析建立了高大空间火灾模拟及探测平台三柱塞缸电液同步驱动系统的非线性数学模型；并以建立的系统模型为基础,借助AMESim仿真软件建立了两柱塞缸电液同步控制系统的仿真模型,并对影响系统同步控制性能的因素进行了仿真分析,仿真结果表明对三柱塞缸电液同步控制系统的同步控制策略进行研究的必要性。
第四章,主要研究高大空间火灾模拟及探测平台电液驱动系统的智能自适应同步控制策略---模型参考模糊自适应电液同步控制策略。通过对模型参考自适应控制原理、模糊逻辑控制理论的研究与分析,采用模糊逻辑控制理论设计模型参考自适应控制器的自适应律以实现三个支路对同一个期望参考模型动态和稳态输出特性的高精度实时跟踪控制,从而提高三个支路的同步控制性能。随后在AMESim/Simulink联合仿真平台上分别采用模型参考模糊自适应电液同步控制策略和单支路PID同步控制策略进行了对比仿真实验,验证了所设计的模型参考模糊自适应电液同步控制策略具有良好的动态、稳态性能以及鲁棒性。
第五章,首先详细介绍了高大空间火灾模拟及探测平台电液同步驱动系统的PLC控制软件的结构设计以及基于WinCC组态软件的人机操作界面的设计开发；其次,分别采用传统PID控制策略和模型参考模糊自适应电液同步控制策略对平台的电液同步驱动系统进行了对比试验研究,试验结果验证了论文所提出的三点机械对重十三点柱塞缸侧置2：1顶升的电液同步驱动机理和驱动结构设计的合理性、可靠性以及工程实用性,也表明了所设计的智能同步控制策略的自适应性和鲁棒性等；最后介绍了该平台在消防科学研究中的初步应用情况。
第六章,总结了本论文的主要研究工作和创新点,并对下一步研究工作进行了展望。
With the rapid development and wide application of large space building, some large space building fire issues, such as safety, fire control, fire fighting, have become more important cosmopolitan research topics in fire science and technology field for researchers. However, because of the poor equipment and conditions, the studies on the large space building fire technology mainly depend on the computer simulation rather than the entity fire model. As a crucial large space fire research instrument during the China's'Eleventh Five-Year Plan', a large space fire simulation&detection platform was developed to conduct large space building fire research based on entity fire model under the support of the National Science and Technology Support Program. The vertical-lifting platform is a large squared cone, double-layered grid structure with about75ton weight,33m length and33m width. The synchronous motion control and the precise positioning of the large platform in the vertical range from3to24m are key issues of the instrument. Considering some characteristics of the large space fire simulation&detection platform, such as large spatial span, heavy and unbalanced load, long stroke and large deformation, an electro-hydraulic synchronization driving system for the large space fire simulation&detection platform is designed and developed by integrating mechanical transmission, electro-hydraulic control, system simulation, intelligent control and other related theories and techniques in the dissertation. The driving principle, control method and some other related technical issues in the electro-hydraulic synchronization driving system are detailedly presented through both the theoretical analysis and the experimental studies. Results show that the high-precision synchronous lifting control for the platform in the large spatial span can be achieved successfully. The main contents of the dissertation are as follows:
In the first chapter, starting with the large space building fire safety problems, the present automatic fire detection and alarm techniques for the large space building are discussed. The significance of the large space fire simulation and detection platform for fire research is demonstrated. Then the current application and research progress about some key technologies in the large vertical-lifting system such as electro-hydraulic synchronization motion control are described. Finally, the main research topics and the significance of this dissertation are summarized briefly.
Chapter Ⅱ, considering the characteristics of the large space fire simulation&detection platform, such as large spatial span, heavy and unbalanced load, long stroke and large deformation, the numbers of the supporting point and the layout of the suspension system for the platform are optimized in ANSYS, and a new electro-hydraulic synchronization driving principle, namely, a driving principle with three machinery-counterweights and three plunger-cylinders, is brought forward. Meanwhile, the mechanical structures of the electro-hydraulic synchronization driving system are designed and studied detailedly, the platform's overall driving structure is proposed. Finally, the principle and integration design for three-cylinder electro-hydraulic synchronization driving system, the monitoring and the control system are presented.
Chapter III, a nonlinear mathematical model of the three-plunger-cylinder electro-hydraulic synchronization driving system for the large space fire simulation&detection platform is established based on the mathematical model of the valve-controlled plunger-cylinder mechanism. Meanwhile, a simulation model of the two-plunger-cylinder electro-hydraulic synchronization control system is built in AMESim.Thenvarious parameters affecting synchronous control accuracy are analyzed in AMESim. The simulation results show that it is necessary to study the synchronization strategy for the three-plunger-cylinder electro-hydraulic synchronization driving system of the large space fire simulation&detection platform.
In chapter IV, based on the studies on the model reference adaptive control theory and fuzzy logic control theory, an intelligent adaptive synchronization strategy for the electro-hydraulic driving system of the large space fire simulation&detection platform---fuzzy adaptive eletro-hydraulic synchronization strategy on the basis of ideal reference model is proposed to achieve the synchronous motion of the three cylinders. The adaptive controller is designed based on fuzzy control logic theory to make each cylinder track the high-precision real-time dynamic and steady-state output of the same reference model. Thereby, the synchronous motion control performance of the three cylinders is greatly improved. Then, with the AMESim/Simulink co-simulation, the comparison between fuzzy model reference adaptive synchronization control strategy and PID control strategy is implemented in the simulation. Simulation results verify that the proposed controller has a satisfactory static and dynamic performance and robustness.
In Chapter V, the development for the PLC control system and the man-machine interface software based on WinCC for the electro-hydraulic synchronization driving system of the large space fire simulation&detection platform are introduced firstly. Then, the comparison between the conventional PID control strategy and model reference fuzzy adaptive electro-hydraulic synchronization control strategy are carried out based on the electro-hydraulic synchronization driving system in the experiment. The experimental results verify the rationality, reliability and practice of the driving principle and structure proposed in the dissertation. Meanwhile, the adaptability and robustness of the proposed control method are also verified. The preliminary application of this fire research platform is presented.
Chapter Ⅵ, main research work and the innovation of the dissertation are summarized and future research work is prospected.
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