基于閉環(huán)控制的壓路機(jī)行走系統(tǒng)改進(jìn)
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(jī)行走速度穩(wěn)定性的改善作用,采用理論分析與仿真相結(jié)合的方法對壓路機(jī)行走系統(tǒng)進(jìn)行了分析。根據(jù)壓路機(jī)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(dǎo)出了控制電信號及行走負(fù)載分別與行走速度響應(yīng)之間的傳遞函數(shù)關(guān)系。結(jié)合閉環(huán)比例、積分、微分(PID)控制特點(diǎn)對壓路機(jī)行走系統(tǒng)傳遞函數(shù)模型進(jìn)行了改進(jìn),得到了閉環(huán)PID控制下壓路機(jī)行走系統(tǒng)傳遞函數(shù)模型。在理論推導(dǎo)的基礎(chǔ)上,對某12t雙鋼輪壓路機(jī)進(jìn)行了行走試驗(yàn),將仿真速度曲線與實(shí)際速度曲線進(jìn)行時域及頻域?qū)Ρ?并對現(xiàn)有模型進(jìn)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(jié)果表明:仿真模型能夠很好地復(fù)現(xiàn)波動負(fù)載下壓路機(jī)實(shí)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(chǔ)上,壓路機(jī)行走過程中的速度穩(wěn)定性有所提升,系統(tǒng)階躍響應(yīng)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(yīng)準(zhǔn)確性更好;將閉環(huán)控制用于壓路機(jī)行走系統(tǒng)中,能夠有效地改善壓路機(jī)平穩(wěn)作業(yè)過程中的速度穩(wěn)定性,提高壓實(shí)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(xué)公路養(yǎng)護(hù)裝備國家工程實(shí)驗(yàn)室;長安大學(xué)道路施工技術(shù)與裝備教育部重點(diǎn)實(shí)驗(yàn)室;中國航空工業(yè)集團(tuán)公司洛陽電光設(shè)備研究所;
【基金】：國家自然科學(xué)基金項(xiàng)目(51208044) 中央高�；究蒲袠I(yè)務(wù)費(fèi)專項(xiàng)資金項(xiàng)目(310825163408,310825171011) 中央高校教育教學(xué)改革專項(xiàng)資金項(xiàng)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(xué)公路養(yǎng)護(hù)裝備國家工程實(shí)驗(yàn)室;長安大學(xué)道路施工技術(shù)與裝備教育部重點(diǎn)實(shí)驗(yàn)室;中國航空工業(yè)集團(tuán)公司洛陽電光設(shè)備研究所;
【基金】：國家自然科學(xué)基金項(xiàng)目(51208044) 中央高�；究蒲袠I(yè)務(wù)費(fèi)專項(xiàng)資金項(xiàng)目(310825163408,310825171011) 中央高校教育教學(xué)改革專項(xiàng)資金項(xiàng)目(0012-310625170801)
【分類號】：U415.521
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