高大空间火灾模拟及探测平台电液同步驱动控制  

Electro-hydraulic Synchronization Driving Control for the Platform of Large Space Fire Simulation and Detection

作　　者：侯继伟[1] 李世伦[1] 陈鹰[1] 宋波[2] 杨震铭[2] 

机构地区：[1]浙江大学流体传动及控制国家重点实验室,杭州310027 [2]公安部天津消防研究所,天津300381

出　　处：《机械工程学报》2010年第14期154-160,共7页Journal of Mechanical Engineering

基　　金：'十一五'国家科技支撑计划资助项目(2006BAK06B03)

摘　　要：为开展高大空间建筑火灾探测报警和自动灭火技术研究,一个面积为1089m2(33m×33m)的高大空间火灾模拟及探测平台需要在距地面3～24m的竖直净空高度范围内,根据试验要求任意的调节定位。针对负载空间跨度大、升降行程长、强耦合等特点,提出三点机械配重+三点柱塞缸电液同步驱动的升降控制方案。通过对电液同步驱动系统的设计及其工作机理的讨论分析,建立系统的数学模型,并针对系统存在的大惯性、强耦合、强非线性、模型参数不确定以及时变等特点,应用模糊集合理论设计一种模型参考模糊自适应同步控制算法,通过三个独立的模型参考模糊自适应控制器分别实现三个阀控柱塞缸对同一个期望参考模型动态和稳态输出特性的实时跟踪控制,从而实现平台的精确同步驱动控制。试验结果验证了该升降平台驱动方案设计的合理性和控制方法的有效性及鲁棒性,升降平台在三个柱塞缸提升点处的动态同步误差小于±5mm,稳态同步误差小于±1mm。To study the fire detection,alarm,and automatic fire extinguishing techniques in large space building,a fire simulation and detection platform with an area of 1089 m2（33 m×33 m）has to be lifted and located within a vertical headroom range from 3 m to 24 m according to the actual requirements.In view of the large span of load space,long lifting stroke and strong coupling,a lifting control scheme using 3-couterweights and 3-piston-cylinders for electro-hydraulic synchronous driving is brought forward.Through the design of electro-hydraulic synchronous driving system and the analysis of its working principle,the mathematical model of the driving system is built.According to the great inertia,strong coupling,strong nonlinearity,parameter uncertainty and time-varying in the driving system,a model reference fuzzy adaptive synchronization control algorithm is designed by using fuzzy set theory.Through the corresponding adjustment of the three model reference fuzzy adaptive controllers,the real-time tracking of the dynamic and steady output characteristics of the same reference model can be performed by the three valve-controlled piston cylinders.So the precision synchronous driving control of the platform can also be realized..The experimental results verify the rationality of the driving scheme for the lifting platform and the effectiveness and robustness of the proposed control method.The dynamic synchronization errors at the three lifting-points of the platform are less than ±3 mm,the steady synchronization errors are less than ±1 mm.

关 键 词：电液控制 同步驱动 模型参考模糊自适应 升降平台 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]