承重试验台同步加载系统设计计算及模糊PID耦合调平控制
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摘要
针对试验台加载系统需具有高效率、快响应和高同步精度的特点,设计了一套液压油路系统,并开发了一种模糊PID交叉耦合同步调平四缸的控制算法。通过对理论模型输出位移的实时跟踪,实现了试验台的同步加载和精确调平控制。基于AMESim建立的同步加载系统的仿真结果,验证了主从式控制与模糊PID交叉耦合控制方案设计的合理性和可靠性。调平系统实验进一步表明,改变四液压油缸负载值使液压油缸负载不同步,可明显提高系统的高精度同步性能。
Aiming at high efficiency,fast response and high synchronization precision for the loading system a test rig,a set of hydraulic circuit system was designed and a fuzzy PID cross-coupling leveling control algorithm of synchronously driving fourcylinders was created.In order to synchronously load and implement precise leveling control of the test rig,the output displacement of a theoretical model was tracked in real-time.The simulation results of AMESim model of the synchronous loading system verify that the combined design scheme of master-slave control and fuzzy PID cross coupling control are suitable and reliable.And the leveling system experiment further shows that adjusting the load value of the fourcylinders to meet the demand of its un-synchronization can improve significantly high precision synchronization performance of the leveling system.
Aiming at high efficiency,fast response and high synchronization precision for the loading system a test rig,a set of hydraulic circuit system was designed and a fuzzy PID cross-coupling leveling control algorithm of synchronously driving fourcylinders was created.In order to synchronously load and implement precise leveling control of the test rig,the output displacement of a theoretical model was tracked in real-time.The simulation results of AMESim model of the synchronous loading system verify that the combined design scheme of master-slave control and fuzzy PID cross coupling control are suitable and reliable.And the leveling system experiment further shows that adjusting the load value of the fourcylinders to meet the demand of its un-synchronization can improve significantly high precision synchronization performance of the leveling system.
引文
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[12] 李小波,孙志勇.雷达天线自动调平系统的设计与实现 [J].现代雷达,2006,28(7):74-76.(LI Xiao -bo,SUN Zhi-yong.Design and realization of automatic adjust level system for radar antenna pedestal [J].Modern Radar,2006,28(7):74-76.(in Chinese))
[13] 阎杰.电液伺服加载系统的自适应PID控制 [J].西北工业大学学报,1998,16(1):56-60.(YAN Jei.The adaptive PID control of electrohydraulic servo loading system [J].Journal of Northwestern Polytechnical University,1998,16(1):56-60.(in Chinese))
[14] 曾晓锋,黄明辉.基于AMESim的Y32-315T四柱液压机驱动系统建模及仿真分析 [J].现代制造工程,2013(3):1-3.(ZENG Xiao -feng HUANG Ming-hui.Simulation analysis of the drive system based on AMESim for Y32-315T hydraulic press [J].Modern Manufacturing Engineering,2013(3):1-3.(in Chinese))
[15] 朱石沙,罗奇,刘金刚,等.基于格子Boltzmann方法的电流变液动力学建模及数值模拟 [J].计算力学学报,2016,33(5):670-675.(ZHU Shi-sha,LUO Qi,LIU Jin-gang,et al.Dynamic modeling and numerical simulation of electro -rheological fluid based on lattice Boltzmann method[J].Chinese Journal of Computational Mechanics,2016,33(5):670-67.(in Chinese))
[2] 薛静,杨亚洁,刘宇,等.基于L1自适应控制的无人机横侧向控制 [J].西北工业大学学报,2015,33(1):40-44.(XUE Jing,YANG Ya-jie,LIU Yu,et al.Lateral roll angle control of UAV based on L1 adaptive control method [J].Journal of Northwes -tern Polytechnical University,2015,33(1):40-44.(in Chinese))
[3] Fales R,Kelkar A.Robus.Robustcontrol design for a wheel loader using H∞ and feedback linearization based methods [J].ISA Transactions,2009,48(3):312-320.
[4] 祁帅,郭晓松,于传强,等.双缸同步液压系统单神经元PID控制仿真研究 [J].流体传动与控制,2008(5):5-8.(QI Shuai,GUO Xiao -song,YU Chuan-qiang,et al.Simulative research of synchronization control of two hydraulic cylinder system based on single PID neuro [J].Fluid Power Transmission and Control,2008(5):5-8.(in Chinese))
[5] 冯永保,常钰.基于Fuzzy-PID控制的调平支腿精确定位的仿真研究 [J].液压气动与密封.2011,31(9):19-22.(FENG Yong-bao,CHANG Yu.Study on fuzzy-PID strategies for leveling lift landing leg pinpointing [J].Hydraulics Pneumatics & Seals,2011,31(9):19-22.(in Chinese))
[6] Koren Y,Lo C C.Variable -gain cross-coupling controller for contouring [J].CIRP Annals Manufacturing Technology,1991,40(1):371-374.
[7] 董春芳,孟庆鑫.多缸电液调平系统相邻交叉耦合同步控制[J].哈尔滨工程大学学报,2012,33(3):366-370.(DONG Chun-fang,MENG Qing-xin.Synchronization control of an electro-hydraulic leveling system based on adjacent cross coupling [J].Journal of Harbin Engineering University,2012,33(3):366-370.(in Chinese))
[8] 贾善斌,刘志奇,侯云辉,等.多级液压缸同步控制精度研究 [J].液压气动与密封,2012,32(8):64-68.(JIA Shan-bin,LIU Zhi-qi,HOU Yun-hui,et al.Multi-stage hydraulic cylinder synchronization control accuracy of the study [J].Hydraulics Pneumatics & Seals,2012,32(8):64-68.(in Chinese))
[9] 杨国来,王建忠,李明学,等.基于AMESim液压支架升降回路仿真分析 [J].煤矿机械,2014,35(12):247-249.(YANG Guo -lai,WANG Jian-zhong,LI Ming-xue,et al.Simulation analysis of hydraulic support lifting circuit based on AMESim [J].Coal Mine Machinery,2014,35(12):247-249.(in Chinese))
[10] 齐朝晖,方慧青.刚体单元及其在多体系统动力学中的应用 [J].计算力学学报,2011,28(4):547-552.(QI Zhao -hui,FANG Hui-qing.Rigid elements and their application in dynamics of multibody systems [J].Chinese Journal of Computational Mechanics,2011,28(4):547-552.(in Chinese))
[11] GB/T 3766-2015.液压传动-系统及其元件的通用规则和安全要求 [S].北京:中国标准出版社,2016.(GB/T 3766-2015.Hydraulic Fluid Power-General Rules and Safety Requirements for Systems and Their Components [S].Beijing:Standards Press of China,2016.(in Chinese))
[12] 李小波,孙志勇.雷达天线自动调平系统的设计与实现 [J].现代雷达,2006,28(7):74-76.(LI Xiao -bo,SUN Zhi-yong.Design and realization of automatic adjust level system for radar antenna pedestal [J].Modern Radar,2006,28(7):74-76.(in Chinese))
[13] 阎杰.电液伺服加载系统的自适应PID控制 [J].西北工业大学学报,1998,16(1):56-60.(YAN Jei.The adaptive PID control of electrohydraulic servo loading system [J].Journal of Northwestern Polytechnical University,1998,16(1):56-60.(in Chinese))
[14] 曾晓锋,黄明辉.基于AMESim的Y32-315T四柱液压机驱动系统建模及仿真分析 [J].现代制造工程,2013(3):1-3.(ZENG Xiao -feng HUANG Ming-hui.Simulation analysis of the drive system based on AMESim for Y32-315T hydraulic press [J].Modern Manufacturing Engineering,2013(3):1-3.(in Chinese))
[15] 朱石沙,罗奇,刘金刚,等.基于格子Boltzmann方法的电流变液动力学建模及数值模拟 [J].计算力学学报,2016,33(5):670-675.(ZHU Shi-sha,LUO Qi,LIU Jin-gang,et al.Dynamic modeling and numerical simulation of electro -rheological fluid based on lattice Boltzmann method[J].Chinese Journal of Computational Mechanics,2016,33(5):670-67.(in Chinese))