基于电液比例技术的液压同步控制系统研究

【作者】 赵斌；

【导师】 杨尚平；

【作者基本信息】 昆明理工大学 ， 机械电子工程， 2007， 硕士

【摘要】 同步控制系统的研究在国内外一直是热门课题。与其它同步控制方式相比，液压同步控制具有结构简单、组成方便、易于控制和适宜大功率场合等诸多优点，在工业生产中得到了广泛应用。本文在查阅大量国内外有关文献的基础上，论述了液压同步控制技术的研究状况，液压同步控制系统的形式、特点及其应用，并详细阐述了电液比例技术发展概况，及其特点。电液比例同步控制是目前的研究热点问题之一，具有较大的理论意义及应用价值。本论文设计了运用电液比例阀的液压同步控制系统，建立了非对称缸及同步控制系统的数学模型，并运用控制理论的原理详细分析了系统的静、动态特性。阐明了仅由电液比例阀搭建的同步控制系统的稳定性、动态性能均未达到理想状况。针对这些问题，文中提出了两种解决方法：一是通过物理手段调整系统中可调参数，但这种方法有其局限性，且改善系统性能的效果并不显著；二是校正，在原有的系统中有目的地增添一些装置和元件，人为地改变系统的结构和性能。该方法能有效地解决系统性能不足的问题。本文在多部位采用了校正方法，并且将同步系统分成主、从回路子系统。主回路子系统采用的是根轨迹校正的手段，而从回路子系统采用的是积分校正的方法。文中提出了从回路子系统校正应依据主回路子系统校正后的频率特性的理论。该方法可以优化系统性能和减小系统的同步误差。但仅靠这一手段，系统的同步误差仍差强人意，故又在主反馈中加入PID控制器。通过试凑法，确定了一组PID控制器的最优参数。应用上述多种控制手段处理后，液压同步控制系统的各项性能指标都达到了令人满意的效果。最后，基于MATLAB的SIMULINK工具箱对系统进行了模拟仿真，仿真结果证明了以上结论。更多还原

【Abstract】 The research of the synchronous control system is having been popular topic at home and abroad. Comparing with others, the hydraulic synchronous control have many advantages, such as simple structure, consitutes convenience, controlled-easily, suited for high power condition etc, and it’s extensively applied in the industry.This paper discusses research condition of the hydraulic synchronous control technology in checking many documents at home and abroad, and elaborates the development and traits of the electro-hydraulic proportional technology in detial. Through the analysis, applying the electro-hydraulic proportional technology in the synchronous control system has bigger theories meaning and applied value we can get.This paper designs the hydraulic synchronous control system, using the electro-hydraulic proportional valve, and builds up mathematics model of nosymmetry fluid cylinder and the hydraulic synchronous control and analyzes the static and dynamic qualities of the system in detail according to the principle of control theroy. Aiming at these problems, it puts forward two kinds methods to resolve in the text. One is adjusting the adjustable parameter in the system by a physical means, but this kind of method has its limit, and improve the result of system function poor. Two is correction, there is destination in the original system to increase some devices and component, change the structure and the function of the system factitiously. This method can resolve the shortage of the system function availably.This paper adoptes to correct a method in many parts, and the synchronous system is divided into the main and the driven back track sub-system. The main back track sub-system uses the means that a track correction. But the driven back track sub-system applies the integral correction. It puts forward the driven back track sub-system should correct according to the main back track sub-system frequency characteristic. The purpose of doing like this is that it can excellent the system function and decrease syschronous error margin. But only depending this skill segment the synchronous error margin of system is still goodish. So we can join the PID controller in the mian feedback.After applying the various controlling methods above-mentioned, the various function index of the hydraulic sychronous system can come to a decent result. Finally, the system is simulated through computer on the basis of the SIMULINK toolbox of MATLAB language and the results of simulation prove that its qualities satisfied with the practical.更多还原