电控排缆绞车电液控制系统研究
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摘要
绞车是工业生产过程中常见的起重拖曳机械，广泛地用于矿山、港口、工厂、建筑和海洋等诸多领域。针对绞车在某些场合负载变化频繁、速度易受干扰的问题，同时为了减小绞车的排缆角，并且提高排缆机构对不同直径缆绳的适应能力，本论文提出了一种新型电控排缆绞车方案，对其电液控制系统进行了深入的理论与实验研究，具有重要的理论价值和实际工程意义。
第一章对绞车的应用及绞车在具体应用中体现出的特点进行了综述；探讨了绞车的分类和结构；介绍了绞车排缆机构的几种构成形式；概括了电液比例技术在绞车速度控制上的应用以及在绞车抗负载特性方面的研究；提出了课题研究的对象——电控排缆绞车以及课题需开展的工作。
第二章详细地阐述了电控排缆绞车的设计方案，包括绞车的机械部分、液压部分和电气部分的设计。
第三章分析了电控排缆绞车排缆机构的控制目标，建立并分析了排缆机构速度控制系统数学模型，确定了排缆机构控制所采取的算法。
第四章建立并分析了电控排缆绞车速度控制系统的数学模型，然后分别对绞车速度的PID控制和模糊控制进行了理论分析和实验研究。实验结果表明，模糊控制算法相比于PID控制算法，能更好地控制绞车速度，使之克服外负载和系统模型变化所产生的干扰。
第五章对绞车速度的自适应模糊控制进行了理论分析，设计了模型参考自适应模糊控制器来控制绞车的速度，并对系统进行了仿真研究。
第六章总结全文并说明一些有待进一步研究的内容，以指导下一步的研究工作。
In industrial procedure, winch is a familiar hoist and towing machine, which is widely used in many areas such as port, factory, building site, ocean and mine. Common winch faces several problems. The winch's speed can't keep stable when its load changes. The warping angle of the winch must be limited in a low value. The same winch can't adapt for cables with different diameter. So this paper put forward a new king of warping winch and deeply researched on its electro-hydraulic control system. These researches are essential either in theory or in engineer.
In chapter one, roundly discussed the applications of winch and the characteristics of these applications, then described the classification and structure of winch, discussed several kind of winch's warping machine. Furthermore, summed up the applications of the electro-hydraulic proportion technology in the control of the winch's speed. Finally put forward the object of the paper and the research work to be finished.
In chapter two, detailedly introduced the structure of the new warping winch, including the mechanical, hydraulic and electrical part. Through the introduction, specified the responsibility of this paper, clarified the feasibility and necessity of the new warping winch.
In chapter three, started, from the analysis on the control target of the warping machine, established and analyzed the model of the warping machine's speed control system, then chose an appropriate algorithm to control it so that the precondition for the warping winch to steadily run was ensured.
In chapter four, established and analyzed the model of the valve controlled speed system, introduced PUD and fuzzy algorithms to controlled the winch's speed, analyzed and compared the simulation results so as to choose the better algorithm. Then, showed the experiment system of the winch, and analyzed the experimental results. Proved by the results, fuzzy algorithm can control the winch's speed and conquered the interferences caused by the change of the winch's load and its model.
In chapter five, discussed other algorithm in the control of winch's speed, and investigated the application of the adaptive fuzzy control, designed the model reference adaptive fuzzy controller and
analyzed its effects.
In chapter six, summarized the total article and introduced some theories that need more researching in order to direct the next research.
第一章对绞车的应用及绞车在具体应用中体现出的特点进行了综述；探讨了绞车的分类和结构；介绍了绞车排缆机构的几种构成形式；概括了电液比例技术在绞车速度控制上的应用以及在绞车抗负载特性方面的研究；提出了课题研究的对象——电控排缆绞车以及课题需开展的工作。
第二章详细地阐述了电控排缆绞车的设计方案，包括绞车的机械部分、液压部分和电气部分的设计。
第三章分析了电控排缆绞车排缆机构的控制目标，建立并分析了排缆机构速度控制系统数学模型，确定了排缆机构控制所采取的算法。
第四章建立并分析了电控排缆绞车速度控制系统的数学模型，然后分别对绞车速度的PID控制和模糊控制进行了理论分析和实验研究。实验结果表明，模糊控制算法相比于PID控制算法，能更好地控制绞车速度，使之克服外负载和系统模型变化所产生的干扰。
第五章对绞车速度的自适应模糊控制进行了理论分析，设计了模型参考自适应模糊控制器来控制绞车的速度，并对系统进行了仿真研究。
第六章总结全文并说明一些有待进一步研究的内容，以指导下一步的研究工作。
In industrial procedure, winch is a familiar hoist and towing machine, which is widely used in many areas such as port, factory, building site, ocean and mine. Common winch faces several problems. The winch's speed can't keep stable when its load changes. The warping angle of the winch must be limited in a low value. The same winch can't adapt for cables with different diameter. So this paper put forward a new king of warping winch and deeply researched on its electro-hydraulic control system. These researches are essential either in theory or in engineer.
In chapter one, roundly discussed the applications of winch and the characteristics of these applications, then described the classification and structure of winch, discussed several kind of winch's warping machine. Furthermore, summed up the applications of the electro-hydraulic proportion technology in the control of the winch's speed. Finally put forward the object of the paper and the research work to be finished.
In chapter two, detailedly introduced the structure of the new warping winch, including the mechanical, hydraulic and electrical part. Through the introduction, specified the responsibility of this paper, clarified the feasibility and necessity of the new warping winch.
In chapter three, started, from the analysis on the control target of the warping machine, established and analyzed the model of the warping machine's speed control system, then chose an appropriate algorithm to control it so that the precondition for the warping winch to steadily run was ensured.
In chapter four, established and analyzed the model of the valve controlled speed system, introduced PUD and fuzzy algorithms to controlled the winch's speed, analyzed and compared the simulation results so as to choose the better algorithm. Then, showed the experiment system of the winch, and analyzed the experimental results. Proved by the results, fuzzy algorithm can control the winch's speed and conquered the interferences caused by the change of the winch's load and its model.
In chapter five, discussed other algorithm in the control of winch's speed, and investigated the application of the adaptive fuzzy control, designed the model reference adaptive fuzzy controller and
analyzed its effects.
In chapter six, summarized the total article and introduced some theories that need more researching in order to direct the next research.
引文
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[2] 李运华，史维祥．近代液压伺服系统控制策略的现状与发展．液压与气动．1995
[3] 董秀林，周福章，史维祥．流体控制技术的发展和展望．洛阳工学院学报．1997．9
[4] J．L．Johnson，P．E．电液控制：回顾过去展望未来．金志立译．液压与气动．1998．3
[5] 史维祥．流体传动几个重要方面的发展．液压气动与密封．2000．2
[6] R.T.Schneider. The next 40 years of fluid power progress and innovation. Hydraulics and Pneumatics.1987
[7] Deur Josko, Peric Nedjeljko. Analysis of Speed Control System for Electrical Drives with Elastic Transmission. IEEE International Symposium on Industrial Electronics. 1999.2
[8] Imamura, Takashi, Kuroiwa, Tetsuya, Terashima, Kazuhiko, Takemoto, Hidehiro. Design and Tension Control of Filament Winding System. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. 1999.2
[9] Ken Elmer. Dr Keith Henthorn, Dr Peter Slellern. Self Heating Effects on the Dynamics of a Proportional Control valve. Measurement & Control. May 1998
[10] Sedrak, Daniel. Closed-loop Electronic Valving and the Application of Variable Voltage Variable Frequency in Hydraulics. Elevator World v 47 n 9 1999
[11] Schel,T.S. A method for Closed Loop Automatic Tuning of PID Controllers. Automatica. 28(3), 1992
[12] Astrom.K.J, Hagglund.T, and Wallenborg.A. Automatic Tuning of Digital Controllers with Applications to HVAC Plants. Automatica 29(5), 1333-1343, 1993
[13] Bristol.E.H. The Design of Industrially Useful Adaptive Controllers.ISA Transaction, 22(3), 17-25,1983
[14] Tan.K.K, Lee.T.H, Wang. Q.G. Enhanced Automatic Tuning Procedure for Process Control of PI/PID Controllers. AIChE Journal, 42(9), 2555-2562, 1996
[15] D.Caputo. Control the Flow and You Control the Speed. Hydraulics & Pneumatics. 2000.6
[16] Wayne Anderson. Controlling Electrohydraulic Systems. MARCEL DEKKER,INC. New York and Base. 1988
[17] Dasgupta. K, Mukherjee. A, Maiti. R. Estimation of Critical System Parameters That Affect Orbit Motor Performance-combining Simulation and Experiments. Journal of Manufacturing Science and Engineer-ing, Transactions of the ASME, v 121 n 2 1999,300-306
[18] 路甬祥，胡大紘．电液比例控制技术．机械工业出版社．1988
[19] 吴根茂，邱敏秀，王庆丰等．实用电液比例技术．浙江大学出版社．1993
[20] 董景新，赵长德．控制工程基础．清华大学出版社．1992
[21] 骆涵秀，李世伦，朱捷，陈大军．机电控制．浙江大学出版社．1994
[22] 陶永华，尹怡欣，葛芦生．新型PID控制及其应用．机械工业出版社．2001
[23] 章宏甲，黄谊．液压传动．机械工业出版社．1992
[24] 郭宗仁．可编程序控制器及其通讯网络技术．人民邮电出版社．1999
[25] 蒋静坪．计算机实时控制系统．浙江大学出版社．1992
[26] 李洪人．液压伺服控制系统．国防工业出版社．1985
[27] 王春行．电液伺服控制系统．机械工业出版社．1984
[28] 刘曙光，魏俊民，竺志超．模糊控制技术．中国纺织出版社．2001
[29] 章卫国，杨向忠．模糊控制理论与应用．西北工业大学出版社．1999
[30] 章卫国，卢京潮，吴方向．先进控制理论与方法导论．西北工业大学出版社．2000
[31] 楼顺天，胡昌华，张伟．基于MATLAB的系统分析与设计——模糊系统．西安电子科技大学出版社．2001
[32] 尚涛，石端伟，安宁，张李义．工程计算可视化与MATLAB实现．武汉大学出版社．2002
[33] R.C.Dorf. Modern Control Systems. Reading, Massachusetts: Addison-Wesley, 1989
[34] Charles L.Phillips, Royce D.Harbor. Feedback Control System.Englewood Cliffs: Ptentice-Hall, 1988
[35] 王芙蓉．比例阀控液压马达速度控制系统的性能研究．机械设计与制造工程．2000
[36] 盛万兴，王孙安．电液速度控制系统的智能模糊控制．机床与液压．1994．4
[37] 王孙安，林廷沂，史维祥．大功率液压马达速度伺服系统的控制方法研究．西安交通大学学报．1991．8
[38] 王军政．电液伺服阀控马达速度闭环数字控制系统的应用研究．北京理工大学学报．2002．4
[39] 刘庆荣，刑科礼，温济全．电液速度伺服系统的智能控制研究．机床与液压．2002．1
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