【作者】 黄金勇；

【导师】 周忆；

【作者基本信息】 重庆大学 ， 机械电子工程， 2011， 硕士

【摘要】 电液式振动台以其优良的性价比在工业中获得了广泛的应用,一直是研究领域关注的一个重点,伺服控制器作为其控制核心尤显重要。大多电液式振动台的控制操作是仪表式的,在系统维护、扩展和升级等方面受到极大地限制。论文采用计算机控制系统对振动台进行控制操作,满足了当今数字化的需求。论文以现有的电液式振动台液压传动系统为基础,搭建控制系统并对其进行研究。首先,建立电液式振动台的线性化数学模型,对电液伺服控制系统的动态特性进行分析,得出其非线性本质的特点;其次,结合现有的电液式振动台研究对象,提出其控制系统的设计要点和伺服控制器的设计指标,对控制器的控制策略进行具体研究,设计出两类控制器,即基于Ziegler-Nichols参数整定经验公式的PID控制器和模糊控制器;对控制系统的动态响应特性及跟踪能力进行MATLAB数字仿真,对PID控制器和模糊控制器的控制行为分别做仿真实验并进行比较;最后,采用计算机结合数据采集卡、伺服放大器等组成伺服控制器的硬件系统,使用Visual C++6.0作为开发工具编写控制软件,对电液伺服控制系统进行联机调试,对系统进行测试实验,得到伺服控制系统的动态特性等参数并对实验结果进行分析。更多还原

【Abstract】 Electro-hydraulic vibration platform has a wide range of applications in the actual industrial applications for its excellent cost-effective, which has always been a focus of attention in application fields. And Servo controller is particularly significant as its control center. Most of electro-hydraulic vibration table is basically the instrument control operations style, which is greatly restricted in system maintenance, expansion and upgrade, etc. The computer control system used in this paper meets the development trend of control operation.In this paper, we build electro-hydraulic vibration’s control system and study it based on its existing hydraulic drive system. Firstly, establishing the linear mathematical model of electro-hydraulic vibration table, analysing electro-hydraulic servo control system’s dynamic characteristics, and then obtain the characteristics of its nonlinear nature. Secondly, proposing the design features of its control system and the design specifications of servo controller, combined with the existing electro-hydraulic vibration table. Then study the control strategy of the servo controller, we design two controllers, which is fuzzy controller and PID controller based on Ziegler-Nichols parameters-adjust empiric formula.Thirdly, we simulate the adjust stability of the controlling system and its tracking performance by MATLAB, which compares the simulation results of the behavior of PID controller and fuzzy controller. Finally, we establish the hardware of servo controller, combined with computer, data acquisition card, servo amplifier and so on; and development the control software by Visual C++6.0, then debug the electro-hydraulic servo control system online; at last we do some experiment to test the system and get the dynamic characteristics parameters of the servo control system and analysis the experimental results.更多还原