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《液壓驅(qū)動(dòng)履帶式攤鋪機(jī)行駛控制系統(tǒng)研究》由會(huì)員上傳分享,免費(fèi)在線閱讀,更多相關(guān)內(nèi)容在學(xué)術(shù)論文-天天文庫(kù)。
1、摘要本論文以履帶式攤鋪機(jī)行駛控制系統(tǒng)為研究對(duì)象,在力平衡方程和流量連續(xù)性方程理論的基礎(chǔ)上建立了系統(tǒng)的靜態(tài)數(shù)學(xué)模型;并且在仿真軟件中建立相應(yīng)的動(dòng)態(tài)仿真分析模型,用AMESim仿真軟件對(duì)影響系統(tǒng)動(dòng)態(tài)性能的因素進(jìn)行了仿真分析;由于系統(tǒng)的負(fù)載變化非常頻繁,外界干擾對(duì)行駛速度的影響很大,所以系統(tǒng)的各個(gè)參數(shù)也會(huì)隨著工況一起變化,是一類(lèi)典型的非線性不確定系統(tǒng)。因此,需要尋找一種更好的控制策略以適應(yīng)外負(fù)載等變化而產(chǎn)生的干擾。針對(duì)這些干擾因素本文設(shè)計(jì)了常規(guī)PID、模糊自適應(yīng)PID、基于干擾觀測(cè)器的模糊自適應(yīng)PID及單神經(jīng)元自適應(yīng)PID控
2、制器,并進(jìn)行了控制效果比較,研究結(jié)果表明:通過(guò)控制器的合理設(shè)計(jì),系統(tǒng)的動(dòng)態(tài)性能可以得到明顯的改善。本論文主要研究工作與貢獻(xiàn)如下:1.采用AMESim仿真軟件建立了履帶式攤鋪機(jī)行駛驅(qū)動(dòng)控制系統(tǒng)的簡(jiǎn)化控制模型,并且分析了泄露系數(shù)、負(fù)載大小、負(fù)載轉(zhuǎn)動(dòng)慣量、體積彈性模量和高壓容積對(duì)系統(tǒng)的影響。2.基于履帶式攤鋪機(jī)行駛控制系統(tǒng)分析模型,設(shè)計(jì)了常規(guī)PID、模糊自適應(yīng)PID、基于干擾觀測(cè)器的模糊自適應(yīng)PID及單神經(jīng)元自適應(yīng)PID控制器,仿真結(jié)果表明:運(yùn)用單神經(jīng)元自適應(yīng)PILl)控制器得出的仿真結(jié)果與前面幾種控制器進(jìn)行比較發(fā)現(xiàn),使用單
3、神經(jīng)元自適應(yīng)PID控制器時(shí),系統(tǒng)的超調(diào)明顯減小、響應(yīng)時(shí)間縮短且到達(dá)穩(wěn)態(tài)的時(shí)間也得到縮短。關(guān)鍵詞:履帶式攤鋪機(jī);液壓驅(qū)動(dòng)行駛控制系統(tǒng);模糊自適應(yīng)PID控制;干擾觀測(cè)器;單神經(jīng)元自適應(yīng)PID控制;AMESim及MATLAB仿真ABSTRACTInthisthesiswithcrawlerpaverdrivingdrivesystemasthefcsearchobject,usingforceequilibriumequationsandflowcontinuityequationestablishsystemstaticm
4、athematicmodel,inthesimulationsoftwareestablishcorrespondingdynamicsimulationmodel,andusetheAMESimsimulationsoftwaresystemdvnamicperformanceofaffectingfactorsonthesimulationanalysis,Thesystem·sspeedcan.tkeepstablewhenitsloadchanges.Andsomeparametersmaychangeduri
5、ngwo塒ngproceSS'SOpump—controlledmotorsystemisatypicalcomplexnonlinearsvstem.Therefore,atpresent,itisanimportanttasktOfindamoreefficaciouscontrolmethodtorcontrollingsystem。causedbythechangesofloadandSOon.Accordingtothesefactors,thispaperintroducesthedesignoftheco
6、nventionalPIDadaptivefuzzyPID。basedoninterferenceobserverfuzzyadaptivePIDandsingleneuronadaptivePIDcontrollerandsimulatecalculation,andthecontroleffectiscompared,theresuItshowsthatthereasonabledesignbythecontroller,thedynamicfunctionofthesVsternc鋤beimproved.This
7、thesismainlyresearchworkandcontributiOnasfoilOws:Thisthesismainlyincludethefollowingaspectsofcontent:Firstly,usingAMESimsimulationsoftwareestablishedthesimplifiedC0ntrolmodelofcrawlerpaverdrivingdrivesystem,andanalyzestheleakcoefficient.10adslze,loadinertia,volu
8、meelasticmodulus,high-pressurevolumeofsysteminfluenCe.Secondly,drivingcontrolsystembasedoncrawlerpaver,designtheanalysismodelofconventionalPID,fuzzyadaptivePID,basedo