折臂式随车起重机回转马达位置伺服系统校正与误差分析  

Position Servo System Calibration and Error Analysis of Rotary Motor of Boom Type Lorry-mounted Crane

作　　者：晋民杰[1] 范思岩 范英[1] 刘文武[2] 杨京山[1] 

机构地区：[1]太原科技大学交通与物流学院,山西太原030024 [2]太原科技大学机械工程学院,山西太原030024

出　　处：《机床与液压》2015年第21期131-134,178,共5页Machine Tool & Hydraulics

基　　金：山西省科技攻关计划项目(20100321058-02);2014年山西省高等学校UIT(201427);山西省研究生教育改革研究课题

摘　　要：在阀控液压回转马达控制系统中,系统的稳定性、控制精度和响应速度等要求通常不易兼顾,在大功率的回转系统中表现更为明显,要想在高精度的控制系统中确保系统的稳定性,就必须加校正环节并通过稳定性、精度及响应速度等方面综合考虑选取最佳的匹配组合,以使系统的控制性能达到最佳。利用MATLAB/Simulink进行仿真并对其特性进行分析,研究系统参数的变化是如何影响其动态特性及产生各类误差,在MATLAB命令窗口绘出了不同参数影响的对比图,通过对系统性能的综合考虑来确定最佳的系统参数和校正参数,进而制定出更加符合实际工程应用的校正控制器。仿真结果表明,经过校正选取合适参数后,系统在各方面的控制效果令人满意。In control system of valve-controlled hydraulic motor loop,the system stability,control accuracy and response speed are usually not easy be concerned at once,especially in the rotary system of high power performance is more apparent. In order to ensure the stability of the system with high precision of control system,the correction link must be added,and through the precision,stability and response speed,and etc,of comprehensive consideration to select the best matching combination,the best control performance of the system was achieved. MATLAB / Simulink was used for simulation and analysis on their characteristics,and how to affect the dynamic characteristics by changing of system parameters was studied and all kinds of error produced. In the MATLAB command window,the contrast figure of influence of different parameters was drawn. Through the comprehensive consideration of system performance to determine the optimal system parameters and correction,then more effective correction controller conformed to the actual engineering application were worked out. The simulation results show that the control effect of system is satisfactory after correction and selecting appropriate parameters in all aspects.

关 键 词：阀控马达 Simulink 位置伺服 滞后超前校正 误差分析 

分 类 号：TH137[机械工程—机械制造及自动化] TP391.9[自动化与计算机技术—计算机应用技术]