抓斗起重机Y方向纠偏系统动态建模与仿真  

Dynamic Modeling and Simulation of Grab Crane Y Axis Direction Control System

作　　者：嘉红霞[1,2] 李万莉[1] 王文芳[1] 

机构地区：[1]同济大学机械工程学院,上海200092 [2]上海海事大学物流工程学院,上海200135

出　　处：《计算机仿真》2010年第7期354-357,369,共5页Computer Simulation

基　　金：国家科技支撑计划(2006BAJ12B01)

摘　　要：地下连续墙抓斗纠偏系统是地下连续墙垂直度的重要保证。为了能保证系统的稳定性和准确性,设计了连续墙抓斗起重机Y轴方向液压纠偏控制系统。系统包括电磁阀、分流阀及液压油缸,通过电磁阀之间的切换使液压油缸交替动作,从而实现液压抓斗在Y轴方向的纠偏控制。利用功率键合图理论,构建了液压抓斗Y轴方向纠偏系统的功率键合图,取键合图中容性元件和惯性元件的积分作用为状态变量建立了系统的状态方程,并得出系统输出与状态变量之间的关系式。利用MATLAB平台进行数值仿真,得到液压油缸的压力响应曲线,分析出系统具有良好的稳定性及快速响应性,完全符合实际运行需求。Underground diaphragm wall grab control system maintains the verticality of diaphragm wall.Diaphragm wall grab crane Y axis direction hydraulic control system was designed.The control system consists of solenoid valves,dividing valves and hydro - cylinders.Alternating motions of the hydro - cylinders were fulfilled by solenoid valve＇ s switching,and then the control of the hydraulic grab in the Y axis direction was accomplished.With the theory of bond graph,establishing the power bond graph of hydraulic grab Y - direction control system,integral actions of capacitive element and inertial element were selected as state variables and state equations of the system,and output equations were deduced.Pressure response of cylinders after simulation based on MATLAB proves that the stability and speediness of the control system are very excellent,and the control system is adequate for requirements of working.

关 键 词：地下连续墙抓斗起重机 动态建模 仿真分析 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]