【摘要】 对桥梁检测综合作业车工作装置的臂架运动进行了分析,建立了桥梁检测综合作业车的臂架刚性运动微分方程。利用ADAMS仿真桥梁检测综合作业车工作状态,为实现臂架未端的控制提供了依据。在建立液压缸位置控制系统模型基础上,分析了传统PID及模糊控制器优缺点,提出了PI+模糊规则自校正的控制策略,Matlab7.1仿真结果表明采用这种控制方法,电液位置控制比例系统的动态特性满足性能要求。更多还原

【Abstract】 An analysis has been carried out on the arm support motion of the working device of comprehensive operation vehicle for bridge detection;the rigid movement differential equation of arm support of the comprehensive operation vehicle for bridge detection was established.Utilizing the operation status of the ADAMS simulative synthetic operation vehicle for bridge detection thus provided basis for realizing the control of arm support end.On the basis of establishing the model of position control system of hydraulic cylinder,the relative merits of traditional PID and fuzzy controller were analyzed and the self-regulation controlling strategy of PI+ fuzzy rule was put forward.The result of Matalab7.1 simulation showed that by adopting this kind of controlling method the dynamic characteristics of the positional control-ratio system of electro-liquid could satisfy the performance requirements.更多还原