旋挖钻机钻桅垂直度自动控制系统建模与算法研究
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摘要
基于多功能旋挖钻机钻桅垂直度调平控制过程,针对手动调平时间长且精度不高的问题,采用电液比例控制技术对自动调平控制系统进行了设计。通过对钻桅小角度范围内的机构分析,得出双缸位移到钻桅角度间的函数关系,建立整个系统的数学模型。采用两种调平控制算法:PID调节法和模糊自适应整定PID控制算法,并利用Simulink工具箱对系统进行动态仿真。仿真结果表明:模糊PID控制是更合理的控制算法,能使钻桅在较短的时间内达到较高的控制精度,并能对PID参数进行自适应调整,提高了钻机成孔质量和工作效率。
An automatic control system for adjusting the verticality of a drilling mast was designed by using electro-hydraulic proportional control technology.A linearization function model was built by structural analysis between the displacement of two cylinders and the angle of the mast within small angle scope,and the mathematic model of the whole control system was established.Both PID control and fuzzy self-adaptive PID control algorithms were given and the results of simulations prove that fuzzy self-adaptive PID control is more effective for improving the dynamic response performance of the system;it can also achieve adaptive adjustment of the PID parameters.Finally,the ideal control precision and the shortened adjustment time improve the quality and efficiency of drilling.
An automatic control system for adjusting the verticality of a drilling mast was designed by using electro-hydraulic proportional control technology.A linearization function model was built by structural analysis between the displacement of two cylinders and the angle of the mast within small angle scope,and the mathematic model of the whole control system was established.Both PID control and fuzzy self-adaptive PID control algorithms were given and the results of simulations prove that fuzzy self-adaptive PID control is more effective for improving the dynamic response performance of the system;it can also achieve adaptive adjustment of the PID parameters.Finally,the ideal control precision and the shortened adjustment time improve the quality and efficiency of drilling.
引文
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[4]Liu G P.Design of stable proportional-integral-plus controllers[J].International Journal of Control,2001,74(16)
[5]王春行.液压控制系统[M].北京:机械工业出版社,2002
[6]王庆丰,路甬祥.电液多变量位置系统的解耦控制[J].中国机械工程,2000,11(7):729~733
[7]盛英,仇原鹰.六点支撑液压式平台自动调平系统[J].液压与气动,1999,(4):24~26
[8]Warren T,et al.Directional Drilling with Casing[P].SPE79914,2005:17~23
[9]吕广明,史海红,沈刚.摊铺机横坡自动调平装置PID仿真技术研究[J].建筑机械化,2006,27(9):28~30
[10]涂承宇.模糊控制技术[M].北京:地震出版社,1998
[11]周曲珠,芮延年.模糊理论在液压系统故障诊断中的应[J].机械科学与技术,2006,25(12):1515~1518
[12]刘学鹏,梅雪松,吴序堂.参数自调整Fuzzy-PID对数控机床进给系统的研究[J].机械科学与技术,2004,23(1):40~42
[2]路甬祥.电液比例控制技术[M].机械工业出社,1988
[3]Young P,et al.Proportional-integral-plus(PIP)design for deltaoperator systems part1.SISO system[J].International Journalof Control,1998,70(1):123~147
[4]Liu G P.Design of stable proportional-integral-plus controllers[J].International Journal of Control,2001,74(16)
[5]王春行.液压控制系统[M].北京:机械工业出版社,2002
[6]王庆丰,路甬祥.电液多变量位置系统的解耦控制[J].中国机械工程,2000,11(7):729~733
[7]盛英,仇原鹰.六点支撑液压式平台自动调平系统[J].液压与气动,1999,(4):24~26
[8]Warren T,et al.Directional Drilling with Casing[P].SPE79914,2005:17~23
[9]吕广明,史海红,沈刚.摊铺机横坡自动调平装置PID仿真技术研究[J].建筑机械化,2006,27(9):28~30
[10]涂承宇.模糊控制技术[M].北京:地震出版社,1998
[11]周曲珠,芮延年.模糊理论在液压系统故障诊断中的应[J].机械科学与技术,2006,25(12):1515~1518
[12]刘学鹏,梅雪松,吴序堂.参数自调整Fuzzy-PID对数控机床进给系统的研究[J].机械科学与技术,2004,23(1):40~42
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