【作者】 杨鹏；

【导师】 施光林；

【作者基本信息】 上海交通大学 ， 机械电子工程， 2011， 硕士

【摘要】 现代社会中,液压系统力协调控制的应用日趋广泛且复杂,如何可靠、安全地保证多缸系统的力协调控制性能,是液压技术发展的重要研究问题之一。鉴于此,本论文搭建了基于高速电磁开关阀的多缸系统的力加载实验平台,引入了CMAC+PID复合控制算法,在此基础上,提出了CMAC自适应PID的完整控制算法,并借助于Matlab RTW xPC实时控制技术,对该实验台进行了深入的实验研究和分析。仿真和实验表明,相比于CMAC+PID复合控制算法,所提出的CMAC自适应PID控制策略,能够大幅提高多缸力加载系统的控制精度、鲁棒性和抗干扰性。围绕多缸系统力加载实验平台的控制,本论文主要就平台搭建和硬件选型、系统数学建模、普通PID控制和基于CMAC的智能控制的仿真与实验分析、控制界面设计等方面而展开,所完成的具体研究工作有：1)根据多缸力加载控制研究目标,选用了合适的液压缸、高速电磁开关阀及力传感器等硬件搭建了多缸系统力加载实验平台。采用了MathWorks公司实时控制系统—Matlab RTW xPC目标环境实现系统作为控制平台,并选用了研华PCI 1711多功能数据采集卡作为软硬件交互平台,进行信号的采集和输出。2)完成了对多缸力加载实验台的数学建模,并通过普通PID控制算法初步进行了仿真和实验。通过分析,确认了普通PID控制的不足和需要改进的地方。3)将CMAC+PID复合控制算法引入进来,通过AMESim和Matlab软件的联合,进行了多缸力加载系统的仿真和实验。通过对比,对CMAC+PID复合控制算法相较于普通PID控制的优点进行了分析,表明了其在精度、鲁棒性和抗干扰能力等方面具有较好的控制效果,并同样指出了其需要改进的不足。4)在CMAC+PID控制算法的基础上,提出了一种更为优越的算法—CMAC自适应PID控制策略。通过仿真和实验对比分析,表明了与其他两种算法相比,该算法能够提高控制精度,增强鲁棒性和抗干扰能力,充分发挥硬件系统的性能,实现对多缸系统力加载的理想控制。5)将Lab VIEW与Matlab进行联合,为多缸系统力加载研究搭建了控制界面,增强了实验台的操作简易性,实现了控制平台的实用和美观。更多还原

【Abstract】 The coordinated force control of hydraulic systems is becoming more and more widely used and complex, so how to ensure the reliability and security is one of the important aspects to develop hydraulic technology. Therefore, this thesis builds a test rig of multi-cylinders based on high speed on/off valves to research the force control. CMAC+PID compound control strategy is used, and presents a new strategy named’intelligent PID control based on CMAC’. Through Matlab RTW xPC, the research and analysis is done to the test rig. The simulation and experiments show that the intelligent PID control strategy based on CMAC can enhance the accuracy, robust and anti-jamming capability of the multi-cylinder system’s force control.Around the topic, this thesis expands in many aspects:building of the test rig, hardware selection, modeling, analysis on simulation and experimental results based on PID and intelligent CMAC control strategy, writing of control interface, etc.The main work is as follows:1) Based on the research aim, the thesis selects optimal cylinders, high speed on/off valves, force transducers, and other components to build the test rig. The Matlab RTW xPC of Math Works is used as the control platform, and the PCI 1711 multifunction DAQ card is used as the communication platform between software and hardware, to acquire and output signals2) The thesis completes the modeling of the test rig, and uses PID control algorithm to do initial simulation and experiments. Through analysis, the disadvantage and improvement needed of PID is confirmed.3) The thesis adopts the CMAC+PID compound algorithm to control the test rig with the combination of AMES im and Matlab. Through the comparison of simulation and experiments results, CMAC+PID control strategy can enhance the control ability, but still has disadvantage.4) The thesis presents a new algorithm-intelligent PID control based on CMAC, through the improvement of CMAC+PID, and the simulation and experiments are carried out with this strategy. The comparison of results shows that the intelligent PID control based on CMAC has great advantage in improving the accuracy, robust and anti-jamming capability. With this strategy, the full ability of the test rig can be exerted, and the force of multi-cylinders can be controlled ideally.5) The thesis combines LabVIEW and Matlab through calling dll, to write the control interface, and this leads to easy, practical and friendly operation of the research of multi-cylinder system’s force control.更多还原