新型电气传动理论在电铲控制系统上的应用
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摘要
本文主要论述了新型电气传动理论在电铲控制系统上的应用。该系统应用全数字化直流驱动装置取代传统电铲的交流原动机一直流发电机组,针对挖掘机野外作业存在粉尘、高温、潮湿等问题,采用全数字化直流调速装置和可编程控制器组合开发的具有当代世界先进水平的智能PLC控制技术,提高了调速性能,能够在很宽的范围内高精度的调速和控制,采取一些模拟电路难以实现的控制规律和控制方法。例如,电流自适应控制、自学习最优控制等。用控制算法软件取代原有的硬件控制设备,所有的控制和操作信号进可编程控制器(PLC)以减少中间环节从而提高了抗干扰能力,改善了电铲的电气性能和现场的作业环境,显著降低了故障率,提高了设备使用效率。
本文针对全数字直流调速器回路、应用自适应原理,通过数学推导,得出了速度环、电枢电压环、电枢电流环的数学模型。根据全数字化电铲的工作原理,以及它的控制方式要求,在电流环内引入电流自适应调节,参数进行自学习最优控制。
论文主要由五部分组成:第一部分为概述,讲述了电铲存在的问题以及电气传动技术的理论基础。第二部分介绍了自适应原理中的连续与离散系统模型参考、稳定性理论以及在直流电传动上的应用。第三部分为新系统配置的控制原理及智能PID控制。第四部分讲述了新系统的具体操作与实现。第五部分为系统的参数操作及软件组成。通过全文的论述,进一步阐述了智能电气传动技术在控制领域上的应用。
The dissertation mostly discourses upon the theories of the new-type electric transmission in the application of the control stystem for excavators. This system uses the total digital direct current drivers to replace the former AC-DC dynamo of the excavator. According to the problem of the powder dirt, the high temperature and the aquosity being the open country busywork, adopt the combination of the total digital DC timing and the programmable controller to tap the intelligent PLC control technology of the contemporary advanced level, and boost the timing capability in a position to the high precise timing and control in very wide extension, and take some control rules and measures which are difficult to come true by the analogy circuit, such as the electrical current self-adaptive control, the self-study optimizing control and so on. Using the software of the control arithmetic replaces the inner hardware. By all the signal of the control and manipulation entering the PLC to reduce the interspace tache, enhance the anti-jamming ability, improve the electric performance and the spot entironment, great reduce the failure rate and improve the efficiency of using equipments.According to the loops of the total digital DC timing and applied self-adaptive principles, deduce the mathematic model of the speed, armature voltage and armature electrical current loops. In terms of the excavator principles of its control mode introducing the electrical current self-adaptive control, the parameters are carried through the self- study optimal control systems.The dissertation is consisted of the five parts: the first part is the summary, which narrates the defect of the former excavator control system and the basic theories of the electric transmission. The second part introduces the continous and discrete systemic model references and the stability theories. The third part is the new systemic collocating theories and intelligent PID control. The fourth part narrates the embodying operation and the realization of the new systemic collocating. The fifth part is the operation of the parameters and the buildup of the software. By the demonstration of the total dissertation, we expounded the intelligent electric transmission in the applications of the control fields.
本文针对全数字直流调速器回路、应用自适应原理,通过数学推导,得出了速度环、电枢电压环、电枢电流环的数学模型。根据全数字化电铲的工作原理,以及它的控制方式要求,在电流环内引入电流自适应调节,参数进行自学习最优控制。
论文主要由五部分组成:第一部分为概述,讲述了电铲存在的问题以及电气传动技术的理论基础。第二部分介绍了自适应原理中的连续与离散系统模型参考、稳定性理论以及在直流电传动上的应用。第三部分为新系统配置的控制原理及智能PID控制。第四部分讲述了新系统的具体操作与实现。第五部分为系统的参数操作及软件组成。通过全文的论述,进一步阐述了智能电气传动技术在控制领域上的应用。
The dissertation mostly discourses upon the theories of the new-type electric transmission in the application of the control stystem for excavators. This system uses the total digital direct current drivers to replace the former AC-DC dynamo of the excavator. According to the problem of the powder dirt, the high temperature and the aquosity being the open country busywork, adopt the combination of the total digital DC timing and the programmable controller to tap the intelligent PLC control technology of the contemporary advanced level, and boost the timing capability in a position to the high precise timing and control in very wide extension, and take some control rules and measures which are difficult to come true by the analogy circuit, such as the electrical current self-adaptive control, the self-study optimizing control and so on. Using the software of the control arithmetic replaces the inner hardware. By all the signal of the control and manipulation entering the PLC to reduce the interspace tache, enhance the anti-jamming ability, improve the electric performance and the spot entironment, great reduce the failure rate and improve the efficiency of using equipments.According to the loops of the total digital DC timing and applied self-adaptive principles, deduce the mathematic model of the speed, armature voltage and armature electrical current loops. In terms of the excavator principles of its control mode introducing the electrical current self-adaptive control, the parameters are carried through the self- study optimal control systems.The dissertation is consisted of the five parts: the first part is the summary, which narrates the defect of the former excavator control system and the basic theories of the electric transmission. The second part introduces the continous and discrete systemic model references and the stability theories. The third part is the new systemic collocating theories and intelligent PID control. The fourth part narrates the embodying operation and the realization of the new systemic collocating. The fifth part is the operation of the parameters and the buildup of the software. By the demonstration of the total dissertation, we expounded the intelligent electric transmission in the applications of the control fields.
引文
[1] 宋银宾.电机拖动基础.冶金工业出版社,1984
[2] 胡寿松.自动控制原理.科学出版社,2001
[3] 陈伯时.电机拖动自动控制系统.机械工业出版社,1997
[4] 刘惠康.电铲全数字化电气控制系统研制技术报告,2001
[5] 英国CONTROLTECHNIQUES公司MENTOR Ⅱ全数字直流驱动器指导手册,2000
[6] 刘兴堂.应用自适应控制.西北工业大学出版社,2002
[7] 谢新民.自适应控制系统.清华大学出版社,2002
[8] 顾树生,王建辉.自动控制原理.冶金工业出版社,2001
[9] 陈宗基.自适应技术及应用.北京航空航天大学出版社,1991
[10] 陶永华.新型PID控制及应用.机械工业出版社,2001
[11] 刘宗富.电机学.冶金工业出版社,1980
[12] 张明达.电机拖动自动控制系统.冶金工业出版社,1983
[13] 黄俊.半导体变流技术.机械工业出版社,1986
[14] 杨兴瑶.电机调速原理及系统.水利电力出版社,1979
[15] 曹永岩.现代控制理论的工程应用.浙江大学出版社,2000
[16] 李人厚.智能控制理论和方法.西安电子科技大学出版社,1999
[17] 顾绳谷.电机及拖动基础.机械工业出版社,1980
[18] 李清泉.自适应控制系统理论、设计与应用.科学出版社,1990
[19] 冯纯伯.自适应控制.电子工业出版社,1986
[20] Narendra K S, Lin Y H. Stable discrete adaptive control. IEEE Trans. Automatic Control, 1980
[21] Landau I D. Adaptive Control-The Model Reference Approach. New York: Morcel Dekker Inc., 1979
[22] Gibson J E. Nonlinear Automatic Control. McGraw-Hill, 1962
[23] Marse A S. Global stability of parameter-adaptive control systems. IEEE Trans. Automatic Control, 1980
[24] Isermann R. Digital control System, 1991
[25] Andreiev N. A new dimension: a self-tuning controller that continually optimizer PID constants. Control Egining, 1981.
[26] R. Isermann, K-H. Lachmann, D. Matko. Adaptive control Systems. Prentice Hall Internation Ltd, 1992
[27] Penfold H B, Evans R J, Mareels I M Y. A nonlinear adaptive control algorithm based on System flow approximations. Ith IFAC. World congress, Tallium. 1990
[28] 孙虎章.自动控制原理.中央广播电视大学出版社,1984
[29] 陆道政.自动控制原理及设计.上海科学技术出版社,1978
[30] 郭宗仪.直流电动机及其控制系统.哈尔滨工业大学,1984
[31] 袁震东.自适应理论及应用.华东师范大学出版社,1988
[32] 郭雷.时变随机系统.吉林科学技术出版社,1993
[33] 韩曾晋.自适应控制.清华大学出版社,1995
[34] 王立新.自适应模糊系统与控制.国防工业出版社,1995
[35] 陶永华.新型PID控制及其应用.机械工业出版社,2001
[36] 吴宏鑫.全系数自适应控制及其应用.国防工业出版社,1990
[37] 刘兴堂,吴小燕.现代系统建模与仿真.西北工业大学出版社,2001
[38] 陈新海.自适应控制及其应用.西北工业大学出版社,1998
[39] 周东华.非线性系统的自适应控制导论.清华大学出版社,2002
[40] 邱公伟.可编程控制器网络通信及应用.清华大学出版社,2000
[2] 胡寿松.自动控制原理.科学出版社,2001
[3] 陈伯时.电机拖动自动控制系统.机械工业出版社,1997
[4] 刘惠康.电铲全数字化电气控制系统研制技术报告,2001
[5] 英国CONTROLTECHNIQUES公司MENTOR Ⅱ全数字直流驱动器指导手册,2000
[6] 刘兴堂.应用自适应控制.西北工业大学出版社,2002
[7] 谢新民.自适应控制系统.清华大学出版社,2002
[8] 顾树生,王建辉.自动控制原理.冶金工业出版社,2001
[9] 陈宗基.自适应技术及应用.北京航空航天大学出版社,1991
[10] 陶永华.新型PID控制及应用.机械工业出版社,2001
[11] 刘宗富.电机学.冶金工业出版社,1980
[12] 张明达.电机拖动自动控制系统.冶金工业出版社,1983
[13] 黄俊.半导体变流技术.机械工业出版社,1986
[14] 杨兴瑶.电机调速原理及系统.水利电力出版社,1979
[15] 曹永岩.现代控制理论的工程应用.浙江大学出版社,2000
[16] 李人厚.智能控制理论和方法.西安电子科技大学出版社,1999
[17] 顾绳谷.电机及拖动基础.机械工业出版社,1980
[18] 李清泉.自适应控制系统理论、设计与应用.科学出版社,1990
[19] 冯纯伯.自适应控制.电子工业出版社,1986
[20] Narendra K S, Lin Y H. Stable discrete adaptive control. IEEE Trans. Automatic Control, 1980
[21] Landau I D. Adaptive Control-The Model Reference Approach. New York: Morcel Dekker Inc., 1979
[22] Gibson J E. Nonlinear Automatic Control. McGraw-Hill, 1962
[23] Marse A S. Global stability of parameter-adaptive control systems. IEEE Trans. Automatic Control, 1980
[24] Isermann R. Digital control System, 1991
[25] Andreiev N. A new dimension: a self-tuning controller that continually optimizer PID constants. Control Egining, 1981.
[26] R. Isermann, K-H. Lachmann, D. Matko. Adaptive control Systems. Prentice Hall Internation Ltd, 1992
[27] Penfold H B, Evans R J, Mareels I M Y. A nonlinear adaptive control algorithm based on System flow approximations. Ith IFAC. World congress, Tallium. 1990
[28] 孙虎章.自动控制原理.中央广播电视大学出版社,1984
[29] 陆道政.自动控制原理及设计.上海科学技术出版社,1978
[30] 郭宗仪.直流电动机及其控制系统.哈尔滨工业大学,1984
[31] 袁震东.自适应理论及应用.华东师范大学出版社,1988
[32] 郭雷.时变随机系统.吉林科学技术出版社,1993
[33] 韩曾晋.自适应控制.清华大学出版社,1995
[34] 王立新.自适应模糊系统与控制.国防工业出版社,1995
[35] 陶永华.新型PID控制及其应用.机械工业出版社,2001
[36] 吴宏鑫.全系数自适应控制及其应用.国防工业出版社,1990
[37] 刘兴堂,吴小燕.现代系统建模与仿真.西北工业大学出版社,2001
[38] 陈新海.自适应控制及其应用.西北工业大学出版社,1998
[39] 周东华.非线性系统的自适应控制导论.清华大学出版社,2002
[40] 邱公伟.可编程控制器网络通信及应用.清华大学出版社,2000