旋挖钻机钻桅垂直度控制系统的研究
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摘要
旋挖钻机是工程机械行业中机电液一体化的施工设备,用于完成深基础桩的钻孔作业。钻桅垂直度控制是保证成孔质量和施工效率的关键环节。本文以SWDM-20旋挖钻机为研究对象,针对钻桅垂直度控制性能的提高进行理论与实验研究。主要完成的工作如下:
1、对钻桅垂直度控制系统进行了工况分析,找出了影响控制性能的因素,并针对运用负荷传感技术、压力补偿技术和电液比例控制技术以提高控制性能的方法进行了分析,为进一步优化系统奠定了基础;
2、应用功率键合图方法建立了整个垂直度控制负荷传感系统的数学模型;
3、通过应用Matlab-Simulink仿真软件对垂直度控制负荷传感系统进行了参数优化,仿真结果也证明了应用负荷传感及压力补偿技术可以实现泵和负载的压力流量匹配,并在偏载情况下实现了两调平油缸的独立可控,满足了提高垂直度控制性能的要求;
4、针对垂直度自动控制性能的提高,采用了模糊自整定PID控制算法,应用传递函数法进行电液比例闭环控制系统数学建模,并应用MATLAB-Fuzzy工具箱设计了模糊PID控制器;
5、对采用Fuzzy-PID控制的垂直度自动控制系统进行了仿真研究,证明了模糊PID控制可以提高了系统的动态响应特性和控制精度,并具有在线自适应能力,验证了采用模糊PID控制方案的合理性;
6、以SWDM-20型旋挖钻机为实验平台,对钻桅垂直度控制系统进行实验分析,验证了运用负荷传感和压力补偿技术对提高系统性能的有效性和垂直度模糊控制的合理性。
Rotary drilling rig is a construction equipment of integration of mechanics, electric and hydraulic in the construction machinery which is used to drill deep hole. It is the key to control the drilling mast's verticality for guaranteeing the quality and efficiency of drilling.
This paper takes the SWDM-20 multi-function rotary drilling rig as the research object, in order to optimize the performance of the control system for adjusting verticality of the Drilling Mast, carries on the theoretic and experimental research. The main research works are as follows:
1、The working conditions of the control system are analyzed, then the influencing factors to the performance of control are found out, whereafter the methods are analyzed which is to improve the performance of control by using of load-sensing technology, pressure compensation technology and electro-hydraulic proportional control technology, all these works are the base for further system optimized;
2、the mathematics model of the hole load-sensing control system isestablished using the bond graph method;
3、Parameters are optimized by means of simulation using the Matlab-Simulink software, then, the result of simulation prove that the application of load-sensing technology and pressure compensation technology can realize the pressure and flux matching of pump-load, also can realize the independent control of two cylinders at the condition of load deflection, finally, prove that the system can improve the performance of control;
4、In order to optimize the performance of the control system, fuzzy self-adaptive PID control is used base on the mathematics model of electro-hydraulic proportional closed-loop automatic control system by using of the transfer function method, then Fuzzy-PID controller was designed using the Matlab-Fuzzy toolbox;
5、Focused on the automatic system for controlling the verticality in which Fuzzy-PID is used, a simulation research is processed, the result prove that Fuzzy-PID can improve dynamic response performance of system and the control precision, thereby, can prove the rationality of the Fuzzy-PID to optimize the system;
6、Taking the SWDM-20 rotary drilling rig as the experimental platform, a test is finished for the analysis of system to control the verticality, the result prove that the application of load-sensing technology and pressure compensation technology to improve the performance of control is valid and the control algorithms to optimize system is reasonable.
1、对钻桅垂直度控制系统进行了工况分析,找出了影响控制性能的因素,并针对运用负荷传感技术、压力补偿技术和电液比例控制技术以提高控制性能的方法进行了分析,为进一步优化系统奠定了基础;
2、应用功率键合图方法建立了整个垂直度控制负荷传感系统的数学模型;
3、通过应用Matlab-Simulink仿真软件对垂直度控制负荷传感系统进行了参数优化,仿真结果也证明了应用负荷传感及压力补偿技术可以实现泵和负载的压力流量匹配,并在偏载情况下实现了两调平油缸的独立可控,满足了提高垂直度控制性能的要求;
4、针对垂直度自动控制性能的提高,采用了模糊自整定PID控制算法,应用传递函数法进行电液比例闭环控制系统数学建模,并应用MATLAB-Fuzzy工具箱设计了模糊PID控制器;
5、对采用Fuzzy-PID控制的垂直度自动控制系统进行了仿真研究,证明了模糊PID控制可以提高了系统的动态响应特性和控制精度,并具有在线自适应能力,验证了采用模糊PID控制方案的合理性;
6、以SWDM-20型旋挖钻机为实验平台,对钻桅垂直度控制系统进行实验分析,验证了运用负荷传感和压力补偿技术对提高系统性能的有效性和垂直度模糊控制的合理性。
Rotary drilling rig is a construction equipment of integration of mechanics, electric and hydraulic in the construction machinery which is used to drill deep hole. It is the key to control the drilling mast's verticality for guaranteeing the quality and efficiency of drilling.
This paper takes the SWDM-20 multi-function rotary drilling rig as the research object, in order to optimize the performance of the control system for adjusting verticality of the Drilling Mast, carries on the theoretic and experimental research. The main research works are as follows:
1、The working conditions of the control system are analyzed, then the influencing factors to the performance of control are found out, whereafter the methods are analyzed which is to improve the performance of control by using of load-sensing technology, pressure compensation technology and electro-hydraulic proportional control technology, all these works are the base for further system optimized;
2、the mathematics model of the hole load-sensing control system isestablished using the bond graph method;
3、Parameters are optimized by means of simulation using the Matlab-Simulink software, then, the result of simulation prove that the application of load-sensing technology and pressure compensation technology can realize the pressure and flux matching of pump-load, also can realize the independent control of two cylinders at the condition of load deflection, finally, prove that the system can improve the performance of control;
4、In order to optimize the performance of the control system, fuzzy self-adaptive PID control is used base on the mathematics model of electro-hydraulic proportional closed-loop automatic control system by using of the transfer function method, then Fuzzy-PID controller was designed using the Matlab-Fuzzy toolbox;
5、Focused on the automatic system for controlling the verticality in which Fuzzy-PID is used, a simulation research is processed, the result prove that Fuzzy-PID can improve dynamic response performance of system and the control precision, thereby, can prove the rationality of the Fuzzy-PID to optimize the system;
6、Taking the SWDM-20 rotary drilling rig as the experimental platform, a test is finished for the analysis of system to control the verticality, the result prove that the application of load-sensing technology and pressure compensation technology to improve the performance of control is valid and the control algorithms to optimize system is reasonable.
引文
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[3]王忠国.旋挖钻机PLC控制技术[J].建筑机械.2006,10:100-103
[4]刘正富,顾海荣.旋挖钻机电子控制技术研究概况[J].筑路机械与施工机械化.2005,1:10-11
[5]戴洵,张文明,冯雅丽.旋挖钻机数字控制系统的研究现状[J].建筑机械.2006,8:51-56
[6]张忠海,陈以田,张启君等.多功能旋挖钻机智能控制技术探讨[J].建筑机械化.2004,9:59-60
[7]杨立夫,张忠海,陈以田等.PLC在多功能旋挖钻机中的应用[J].机电一体化.2004,2:76-79
[8]许益民.电液比例控制系统分析与设计[M].北京:机械工业出版社.2005:29-36
[9]刘伟.旋挖钻机的发展及应用[J].建筑机械化.2004,11:16-18
[10]赵伟民,胡长胜,郭传新等.国内外旋挖钻机发展分析[J].建筑机械.2005,6(5):63-66
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