基于閉環(huán)控制的壓路機行走系統(tǒng)改進
發(fā)布時間：2018-11-20 21:08
【摘要】：為了探究閉環(huán)控制對于壓路機行走速度穩(wěn)定性的改善作用,采用理論分析與仿真相結合的方法對壓路機行走系統(tǒng)進行了分析。根據(jù)壓路機行走液壓系統(tǒng)圖及各液壓元件的工作特性建立了傳遞函數(shù)模型,并據(jù)此推導出了控制電信號及行走負載分別與行走速度響應之間的傳遞函數(shù)關系。結合閉環(huán)比例、積分、微分(PID)控制特點對壓路機行走系統(tǒng)傳遞函數(shù)模型進行了改進,得到了閉環(huán)PID控制下壓路機行走系統(tǒng)傳遞函數(shù)模型。在理論推導的基礎上,對某12t雙鋼輪壓路機進行了行走試驗,將仿真速度曲線與實際速度曲線進行時域及頻域?qū)Ρ?并對現(xiàn)有模型進行了仿真分析,探究了閉環(huán)PID控制對行走系統(tǒng)特性的影響。研究結果表明:仿真模型能夠很好地復現(xiàn)波動負載下壓路機實際行走速度的變化規(guī)律,在加入PID閉環(huán)控制后,在保持速度平均值不變的基礎上,壓路機行走過程中的速度穩(wěn)定性有所提升,系統(tǒng)階躍響應中的超調(diào)和振蕩現(xiàn)象得到了明顯的抑制,穩(wěn)定時間有所改善,系統(tǒng)的響應準確性更好;將閉環(huán)控制用于壓路機行走系統(tǒng)中,能夠有效地改善壓路機平穩(wěn)作業(yè)過程中的速度穩(wěn)定性,提高壓實作業(yè)質(zhì)量。
[Abstract]:In order to explore the effect of closed-loop control on the stability of the roller's walking speed, the walking system of the roller was analyzed by combining theoretical analysis with simulation. The transfer function model is established according to the hydraulic system diagram of the roller and the working characteristics of the hydraulic components, and the transfer function relationship between the control electric signal and the walking load and the velocity response is deduced. The transfer function model of roller walking system is improved by combining the characteristics of closed loop ratio, integral and differential (PID) control, and the transfer function model of roller walking system under closed loop PID control is obtained. On the basis of theoretical derivation, the walking test of a 12t double-wheel roller is carried out. The simulation velocity curve is compared with the actual velocity curve in time domain and frequency domain, and the existing models are simulated and analyzed. The effect of closed loop PID control on the characteristics of walking system is investigated. The results show that the simulation model can well reproduce the variation law of the actual speed of the roller under fluctuating load. After adding the PID closed loop control, the average speed of the roller can be kept constant. The speed stability of the roller is improved, the overharmonic oscillation in the step response of the system is obviously restrained, the stabilization time is improved, and the response accuracy of the system is improved. The closed-loop control can effectively improve the speed stability and the quality of compaction operation in the roller walking system.
【作者單位】： 長安大學公路養(yǎng)護裝備國家工程實驗室;長安大學道路施工技術與裝備教育部重點實驗室;中國航空工業(yè)集團公司洛陽電光設備研究所;
【基金】：國家自然科學基金項目(51208044) 中央高校基本科研業(yè)務費專項資金項目(310825163408,310825171011) 中央高校教育教學改革專項資金項目(0012-310625170801)
【分類號】：U415.521
本文編號：2346032
[Abstract]:In order to explore the effect of closed-loop control on the stability of the roller's walking speed, the walking system of the roller was analyzed by combining theoretical analysis with simulation. The transfer function model is established according to the hydraulic system diagram of the roller and the working characteristics of the hydraulic components, and the transfer function relationship between the control electric signal and the walking load and the velocity response is deduced. The transfer function model of roller walking system is improved by combining the characteristics of closed loop ratio, integral and differential (PID) control, and the transfer function model of roller walking system under closed loop PID control is obtained. On the basis of theoretical derivation, the walking test of a 12t double-wheel roller is carried out. The simulation velocity curve is compared with the actual velocity curve in time domain and frequency domain, and the existing models are simulated and analyzed. The effect of closed loop PID control on the characteristics of walking system is investigated. The results show that the simulation model can well reproduce the variation law of the actual speed of the roller under fluctuating load. After adding the PID closed loop control, the average speed of the roller can be kept constant. The speed stability of the roller is improved, the overharmonic oscillation in the step response of the system is obviously restrained, the stabilization time is improved, and the response accuracy of the system is improved. The closed-loop control can effectively improve the speed stability and the quality of compaction operation in the roller walking system.
【作者單位】： 長安大學公路養(yǎng)護裝備國家工程實驗室;長安大學道路施工技術與裝備教育部重點實驗室;中國航空工業(yè)集團公司洛陽電光設備研究所;
【基金】：國家自然科學基金項目(51208044) 中央高校基本科研業(yè)務費專項資金項目(310825163408,310825171011) 中央高校教育教學改革專項資金項目(0012-310625170801)
【分類號】：U415.521
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