雙吊點啟閉機液壓系統(tǒng)動態(tài)特性研究
發(fā)布時間：2018-12-14 13:50
【摘要】：無論是水利樞紐、航運船閘、電站、防洪澇都要用到閘門,而閘門的開啟和關(guān)閉都要用到專用的機械裝置——啟閉機。與體積龐大笨重的相同容量的卷揚式啟閉機相比較,液壓式啟閉機的自重輕得多,而且水工結(jié)構(gòu)布置簡單,可以節(jié)省大量投資,尤其是當孔口數(shù)量較多時此優(yōu)點更為顯著。由于運行平穩(wěn),系統(tǒng)可方便地實現(xiàn)無級調(diào)速,能自動實現(xiàn)過載保護,易于與計算機連接,實現(xiàn)智能化控制等,液壓式啟閉機顯示出了其明顯的優(yōu)越性。但是,液壓啟閉機作為閘門啟閉主要發(fā)展方向的同時,也面臨著系統(tǒng)動態(tài)性能不理想、系統(tǒng)同步精度不高、平衡回路穩(wěn)定性差等等亟需解決的諸多問題。因此,本文從問題出發(fā),采用一種新型的同步回路結(jié)構(gòu),完成控制策略的設(shè)計并改善了系統(tǒng)的動態(tài)性能以及平衡回路的穩(wěn)定性,為啟閉機液壓系統(tǒng)今后的發(fā)展提供參考。首先,簡述啟閉機液壓系統(tǒng)的工作原理、研究現(xiàn)狀、面臨的主要問題,闡述論文的研究背景和意義。第2章,詳細闡述了系統(tǒng)關(guān)鍵元件A11VO比例變量泵以及FD型單向節(jié)流式平衡閥的工作原理�；趥鬟f函數(shù)法分別建立了上述兩個關(guān)鍵元件的數(shù)學模型,得出方框圖,并推導出開環(huán)傳遞函數(shù)。就關(guān)鍵元件的主要結(jié)構(gòu)參數(shù)變化分析其對系統(tǒng)動態(tài)特性的影響。根據(jù)推導出的開環(huán)增益,提出改善系統(tǒng)穩(wěn)定性的可行方法。第3章,對液壓系統(tǒng)仿真軟件AMESim做了簡要介紹。利用HCD庫分別建立了同步回路和平衡回路中的兩個核心元件:A11VO比例變量泵以及FD型單向節(jié)流式平衡閥的仿真模型。驗證了模型的準確性,得出抑制比例泵出口的壓力沖擊,穩(wěn)定壓力,提高系統(tǒng)的穩(wěn)定性以及加快平衡回路系統(tǒng)的調(diào)節(jié)時間的方法。第4章,詳細介紹了PID控制算法各環(huán)節(jié)的作用以及參數(shù)整定方法。搭建了啟閉機液壓系統(tǒng)的AMESim仿真模型。結(jié)合系統(tǒng)模型進行了PID控制器的設(shè)計。在系統(tǒng)中引入PID控制器后,重點針對系統(tǒng)在階躍偏載和1缸階躍速度下比例泵控同步缸能否完成較為精確的位移跟隨進行仿真。觀察PID控制器的控制效果和動態(tài)性能。第5章,介紹了前饋補償控制器的工作原理,針對負載擾動的情況下,PID控制器的控制效果并不是十分的理想這一問題,通過前饋補償控制策略來消除負載變化給系統(tǒng)帶來的擾動。建立啟閉機液壓系統(tǒng)同步回路模塊的傳遞函數(shù)方框圖,在系統(tǒng)中引入前饋補償環(huán)節(jié),并設(shè)計了前饋補償控制器。仿真結(jié)果表明,在相同偏載力干擾下,前饋PID控制較單純PID控制的抑制干擾能力有了明顯的改善。
[Abstract]:No matter it is a water conservancy project, a shipping lock, a power station, or a flood control station, it is necessary to use the gate, and the opening and closing of the gate must use a special mechanical device, the hoist. Compared with the large bulky hoisting hoist of the same capacity, the hydraulic hoist has much lighter weight, and the hydraulic structure is simple, which can save a lot of investment, especially when the number of orifices is more than that of the hydraulic hoist. Because of the smooth running, the system can realize stepless speed regulation conveniently, can realize the overload protection automatically, easy to connect with the computer, and realize the intelligent control, etc., the hydraulic hoist has shown its obvious superiority. However, as the main development direction of gate hoist, hydraulic hoist also faces many problems that need to be solved urgently, such as system dynamic performance is not ideal, system synchronization accuracy is not high, balance loop stability is poor, and so on. Therefore, starting from the problem, this paper adopts a new synchronous loop structure to complete the design of the control strategy and improve the dynamic performance of the system and the stability of the balance loop, which provides a reference for the future development of the hoist hydraulic system. Firstly, the working principle, research status and main problems of hydraulic system of hoist are briefly introduced, and the research background and significance of this paper are expounded. In chapter 2, the working principle of A11VO proportional variable pump and FD type unidirectional throttle balancing valve is described in detail. Based on the transfer function method, the mathematical models of the two key components are established, the block diagram is obtained, and the open loop transfer function is derived. The influence of the main structural parameters of the key components on the dynamic characteristics of the system is analyzed. According to the derived open loop gain, a feasible method to improve the stability of the system is proposed. In chapter 3, the hydraulic system simulation software AMESim is introduced briefly. The simulation models of A11VO proportional variable pump and FD type unidirectional throttle balancing valve are established by using HCD library. The accuracy of the model is verified, and the methods to suppress the pressure shock at the outlet of the proportional pump, to stabilize the pressure, to improve the stability of the system and to speed up the adjusting time of the balance loop system are obtained. In chapter 4, the function of PID control algorithm and the method of parameter tuning are introduced in detail. The AMESim simulation model of hoist hydraulic system is built. The PID controller is designed based on the system model. After the introduction of PID controller in the system, the simulation is focused on whether the proportional pump controlled synchronous cylinder can complete the more accurate displacement following under the step bias load and the step speed of 1 cylinder. Observe the control effect and dynamic performance of PID controller. In chapter 5, the working principle of feedforward compensation controller is introduced. In the case of load disturbance, the control effect of PID controller is not very ideal. The disturbance caused by load change is eliminated by feedforward compensation control strategy. The transfer function block diagram of synchronous loop module of hoist hydraulic system is established, feedforward compensation link is introduced into the system, and feedforward compensation controller is designed. The simulation results show that the performance of feedforward PID control is significantly improved than that of simple PID control under the same bias force interference.
【學位授予單位】：蘭州理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP273;TH137
本文編號：2378716
[Abstract]:No matter it is a water conservancy project, a shipping lock, a power station, or a flood control station, it is necessary to use the gate, and the opening and closing of the gate must use a special mechanical device, the hoist. Compared with the large bulky hoisting hoist of the same capacity, the hydraulic hoist has much lighter weight, and the hydraulic structure is simple, which can save a lot of investment, especially when the number of orifices is more than that of the hydraulic hoist. Because of the smooth running, the system can realize stepless speed regulation conveniently, can realize the overload protection automatically, easy to connect with the computer, and realize the intelligent control, etc., the hydraulic hoist has shown its obvious superiority. However, as the main development direction of gate hoist, hydraulic hoist also faces many problems that need to be solved urgently, such as system dynamic performance is not ideal, system synchronization accuracy is not high, balance loop stability is poor, and so on. Therefore, starting from the problem, this paper adopts a new synchronous loop structure to complete the design of the control strategy and improve the dynamic performance of the system and the stability of the balance loop, which provides a reference for the future development of the hoist hydraulic system. Firstly, the working principle, research status and main problems of hydraulic system of hoist are briefly introduced, and the research background and significance of this paper are expounded. In chapter 2, the working principle of A11VO proportional variable pump and FD type unidirectional throttle balancing valve is described in detail. Based on the transfer function method, the mathematical models of the two key components are established, the block diagram is obtained, and the open loop transfer function is derived. The influence of the main structural parameters of the key components on the dynamic characteristics of the system is analyzed. According to the derived open loop gain, a feasible method to improve the stability of the system is proposed. In chapter 3, the hydraulic system simulation software AMESim is introduced briefly. The simulation models of A11VO proportional variable pump and FD type unidirectional throttle balancing valve are established by using HCD library. The accuracy of the model is verified, and the methods to suppress the pressure shock at the outlet of the proportional pump, to stabilize the pressure, to improve the stability of the system and to speed up the adjusting time of the balance loop system are obtained. In chapter 4, the function of PID control algorithm and the method of parameter tuning are introduced in detail. The AMESim simulation model of hoist hydraulic system is built. The PID controller is designed based on the system model. After the introduction of PID controller in the system, the simulation is focused on whether the proportional pump controlled synchronous cylinder can complete the more accurate displacement following under the step bias load and the step speed of 1 cylinder. Observe the control effect and dynamic performance of PID controller. In chapter 5, the working principle of feedforward compensation controller is introduced. In the case of load disturbance, the control effect of PID controller is not very ideal. The disturbance caused by load change is eliminated by feedforward compensation control strategy. The transfer function block diagram of synchronous loop module of hoist hydraulic system is established, feedforward compensation link is introduced into the system, and feedforward compensation controller is designed. The simulation results show that the performance of feedforward PID control is significantly improved than that of simple PID control under the same bias force interference.
【學位授予單位】：蘭州理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP273;TH137
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，本文編號：2378716
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