钻机平台单通道液压调平支腿的控制分析  

Control Analysis of a Drilling Rig Platform's Single-channel Hydraulic Leveling Leg

作　　者：王艳[1] 刘艳[2] 

机构地区：[1]南京理工大学紫金学院光电信息科学系,江苏南京210094 [2]南京理工大学泰州科技学院机械工程系,江苏泰州225309

出　　处：《机床与液压》2016年第22期80-83,89,共5页Machine Tool & Hydraulics

摘　　要：由于钻机平台单通道液压支腿控制性能对整个调平系统有影响,提出在钻机平台现有控制方法基础上,对各个液压支腿串联设计单通道控制器,以减少系统调平时间;同时,针对钻机平台单通道液压支腿进行控制器的设计,针对存在的负载干扰不确定性、模型非线性等因素,建立单通道液压支腿非线性仿真模型,设计模糊自适应PID控制器并进行仿真研究。通过Simulink仿真分析,得出在设计的模糊自适应控制作用下,单通道液压支腿能快速跟踪输入信号,相比于常规控制方式,提升了调平支腿对全局控制器输入控制信号的跟踪速度,并将控制误差减小一半,有利于提升整体调平系统的调平速度,为钻机平台调平系统的改进提供了参考。Considering that the control performance of drilling rig platform＇ s single-channel hydraulic leveling leg affected the whole leveling system＇ s performance, it was proposed to add cascade single-channel controller into each hydraulic leg on the basis of existing control means to drilling rig platform, which was beneficial to reduce the leveling time. Also, the single-channel hydraulic lev- eling system＇ s nonlinear mathematic model was obtained by considering the nonlinearities and uncertainties. Then, the fuzzy-adaptive- PID controller was designed and the simulation was conducted via Simulink software. Simulation results demonstrate that the designed controller can effectively improve single hydraulic support leg＇ s performance of tracking the input signal from the global controller and the tracking velocity, thus the tracking error is reduced half, which can help to improve the whole leveling system＇s control perform- ance, especially the leveling time. The analysis provides theoretical basis for the improvement of the drilling rig platform＇ s leveling system.

关 键 词：钻机平台 调平系统 液压支腿 模糊自适应 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]