【作者】 何林立；

【导师】 潘宏侠；

【作者基本信息】 中北大学 ， 模式识别与智能系统， 2010， 硕士

【摘要】 伴随着我国装备制造业的振兴,重型装备的运输平台、大型钻机、重型起重机、武器发射平台等大型重载平台的自动调平技术研究刻不容缓。本文针对大型重载平台,采用电液比例控制系统,基于模糊PID控制策略,实现平台在精度范围内快速、稳定的调平。本文主要包括以下几个部分:首先,详述了系统的组成和工作原理,给出了自动调平系统的总体方案,包括平台的支撑方式、控制方式以及传动方式,并对系统涉及的主要硬件进行选型,给出主要参数,完成各个环节的匹配。同时,根据本系统的特征,结合平台模型和角度传感器的安装特点,基于常用调平方法和控制算法展开分析,选择了只升不降的调平方法。其次,对单支腿电液比例阀控液压系统进行建模分析。鉴于选用的硬件参数,推算了支腿电液比例控制系统的传递函数,并进行了稳定性分析。由于在分析过程中发现系统极易振荡,本文采用了滞后—超前网络校正。为了改善常规PID控制效果,采取模糊PID控制技术。设计了模糊PID控制器,给出了模糊控制规则,以及输入输出特性曲面,为后续的平台系统仿真做铺垫。最后,使用Matlab中simulink的对支腿电液比例控制系统进行模糊PID和常规PID控制对比仿真,发现模糊PID能有效的抑制振荡,能够保证平台更加快速、平稳的达到水平状态。同时,对整个平台系统进行整体仿真,包括“虚腿”判断的仿真模块设计,仿真表明,该调平策略明显提高系统性能。基于西门子PLC,设计了整个自动调平系统软件,并采用S7 ?PLCSIM进行了部分程序调试。更多还原

【Abstract】 Along with the revitalization of China’s equipment manufacturing industry, such as heavy equipment transport platform, a large drilling rig, heavy cranes, heavy weapons, launch platforms and other large platforms, the research of Auto-leveling technology is imperative. This paper uses electro-hydraulic proportional control technology platform within the precision rapid and stable leveling. It mostly includes following studies.First of all, it describes the system’s composition and working principle,provides the overall program, including the platform’s structure, the control mode and the transmission mode, and the main hardware systems that involve selection, and then gives the main parameters to complete all aspects of the match. At the same time, according to the characteristics of the system,the platform model and the installation of angle sensor characteristics, combining with common leveling methods and control algorithms, it decides to select only-rise method.Secondly, as the single-leg electro-hydraulic proportional valve hydraulic system, firstly as the hardware parameters it receives the leg electro-hydraulic proportional control system transfer function, then makes stability analysis, and then regulates the instability system with Double T network, while the conventional PID control strategy is inappropriate; finally it decides to adopt intelligent PID control technology. It designs a fuzzy PID controller, gives fuzzy control rules, and provides input and output characteristics graphs, in order to pave the way behind the platform’simulation.Finally, based on simulink of Matlab , it compares conventional PID and fuzzy PID simulation of single-leg electro-hydraulic proportional control system, through contrast, there proves that fuzzy PID not only can quickly reach leveling, and can effectively restrain the oscillation. The whole simulation for the entire platform, including the simulation module design of "empty legs" to determine, shows fuzzy PID control strategy significantly improving system performance. Based on Siemens PLC, this paper designs the whole auto-leveling system software, and part of the procedures passes inspection.更多还原