【作者】 葛俊宇；

【导师】 陈留； 李建光；

【作者基本信息】 西南交通大学 ， 机械电子， 2004， 硕士

【摘要】 论文首先对液压控制系统的现状和发展趋势作了简要的介绍，然后给出了要阐述的研究对象——复杂的多任务电液系统，控制的目标是多任务的协同工作。 本文通过对四通滑阀控制非对称液压缸的分析，建立了数学模型，且进行了线性化处理，简化结果有利于进一步的分析、计算与仿真。随后，介绍了最常见的几种PID控制算法，它们算法简单，易于实现，故得到了广泛的应用。在此基础上，用MATLAB仿真软件对系统模型进行了仿真，进而确定了系统的控制参数。 针对多任务电液系统的协同控制，本文提出了一种基于现场总线的分层递阶式控制模式，并对其作了详细的介绍。还介绍了一种基于CAN总线技术规范而开发的EPEC-PLC，及其软件平台的编程环境。 本文最后给出了一个应用实例——平板运输车，对它的控制要求、控制方案和软件实现等作了详细的介绍。实践证明，对多任务电液系统的协同控制的方案是可行的、有效的。更多还原

【Abstract】 Based on the development of electrohhydraulic control system, This thesis focus on the complicated electrohyhydraulic control system with multitask for cooperating control.A linearized mathematic model is built up through analyzing valve controlled asymmetric. Then the PID control algorithm, which are applied widely because they are simple and realized easily, is employed. In this schem, the system model is simulated with MATLAB simulation software, thereby ascertaining the parameters of the system.Aiming at the cooperating control with muititask of electrohydraulic system, the thesis brings forward a plan of multiple layer control mode, and describes it.The paper also introduces an EPEC-PLC which is exploited based on CAN bus technical regulations, and its program environment.The thesis gives finally an example of its applications, a heayy-duty transportation vehicle, and it introduces in detail the control demands, the control plan, the software realization and so on. The schem control has been proved feasible and effective in practical application.更多还原