【作者】 曾洪勇；

【导师】 高顺德；

【作者基本信息】 大连理工大学 ， 机械工程， 2012， 硕士

【摘要】 起重机是工程施工中常见的工程机械,随着石油、化工、电力等行业的大力建设,起重机越来越趋向于大吨位、超大吨位化,因此对吊载安全性的要求越来越高。为了提高吊载吨位,大吨位及超大吨位起重机的吊载系统已普遍采用双卷扬单钩吊载,这对双卷扬的同步性要求也越来越高,采用传统PID控制双卷扬同步已不能满足系统精度和动态性能要求,本文将模糊控制和PID控制相结合,使系统根据双卷扬出绳量偏差及偏差变化率,通过模糊规则语言自动调整PID参数,并用MATLAB和AMESim软件建立双卷扬系统的控制和液压模型,通过对模型联合仿真,验证了模糊PID控制方法对双卷扬同步控制系统具有较好的控制效果。本文的主要研究内容如下：(1)总结大吨位、超大吨位起重机双卷扬系统的特点和构成,设计了一个闭式液压试验平台,包括液压系统和电气系统的设计,外购元器件选型等。(2)对闭式液压系统平台做稳定性分析。运用传递函数法建立闭式液压试验平台双卷扬同步控制系统的数学模型,并运用MATLAB绘制系统伯德图,运用时域分析法和频域分析法分析系统的稳定性和动态响应。(3)设计模糊PID控制器。深入学习了模糊PID控制器及模糊PID参数整定规则,设计双卷扬同步控制系统的模糊PID控制器并在MATLAB的Fuzzy模块中实现,在MATLAB/Simulink中对系统进行仿真,并对模糊PID控制器和传统PID控制器的控制效果进行对比分析,证明模糊PID控制效果好于传统PID。(4)电液联合仿真。通过MATLAB/Simulink和AMESim实现闭式液压试验平台双卷扬同步控制系统的电液联合仿真,在MATLAB/Simulink中建立了模糊控制控制器,在AMESim建立了液压系统,实现了联合仿真,结果表明,在双卷扬同步控制系统中相比传统PID而言,采用模糊PID控制策略能达到更好的控制效果。更多还原

【Abstract】 Crane is a common construction machinery in engineering machinery. With the electricity, petroleum, chemical industry develop strongly, as the crane larger-tonnage and larger tonnage, requirements of the accuracy and dynamic performance is stricter and stricter. In order to increase the tonnage and lifting load factor of safety, large tonnage and extra-heavy load lifting crane dual-hoist system has been widely used single-hook hanging set, which is double hoist synchronization requirements have become more sophisticated, using the traditional PID control double hoist synchronization can not meet the system accuracy and dynamic performance requirements. Fuzzy logic is used for PID control, whose parameters can be adjusted automatically according to error and error changing. A comparison analysis between PID and Fuzzy PID control is carried with the help of MATLAB/AMESim software to establish two-hoist control systems and hydraulic models, through the co-simulation model to verify the fuzzy PID control method for simultaneous dual-hoist control system has better control effect. The main contents of this thesis are as follows:(1) Summary of large-tonnage cranes dual-hoist system characteristics and composition, A closed hydraulic test platforms is designed, including hydraulic system and electrical system design, and components are selected for it.(2) The closed hydraulic system stability analysis. Using transfer function method to establish the closed hydraulic test platform synchronized dual-winch control system mathematical model. And the bode diagram is draw. Using time-domain analysis and frequency domain analysis method to analyze the system stability and dynamic response.(3) Design of fuzzy PID controller. In-depth study of fuzzy PID controller and fuzzy PID parameter tuning rules. Design double-hoist synchronization control system in MATLAB fuzzy PID controller and the Fuzzy module is implemented in MATLAB/Simulink in system simulation, A comparison analysis between PID and Fuzzy PID were carried with the help of Simulink. The simulation results showed that the fuzzy PID has better effects than traditional PID.(4) Co-simulation of MATLAB/Simulink and AMESim, Using MATLAB/Simulink to create a fuzzy control controller, built hydraulic system in AMESim, to achieve a co-simulation The results show that the fuzzy PID control strategy has better control effects and robustness in A closed hydraulic test platforms.更多还原