阳极板夹持移动装置及其位置控制算法设计  

Research on the Holding and Moving Device of Anode Plates and Its Displacement Control Strategy Design

作　　者：龙志平 魏颖 吕文卫 LONG Zhi-ping;WEI Ying;LV Wen-wei(Qinghai Copper Co., Ltd., Xining 810000, Qinghai, China;Jiangxi Tianxin Machinery Co., Ltd, Nanehang 330000, Jiangxi, China)

机构地区：[1]青海铜业有限责任公司,青海西宁810000 [2]江西天鑫冶金装备技术有限公司,江西南昌330000

出　　处：《铜业工程》2017年第6期65-70,共6页Copper Engineering

基　　金：江西省重点新产品研发计划资助项目(20171BBG0040)

摘　　要：根据生产需求设计了一种新型的阳极板夹持移动装置。该装置通过电液比例液压控制系统,精确控制移动小车和夹持装置的位置,有效克服阳极板加工中出现的跑偏现象,提高操作自动化程度与精确度,利于阳极板的后续加工。为了提高电液比例系统的位置控制精度,设计了数字增量式PID与死区非线性补偿相结合的自适应位置控制器。数字增量式PID控制器根据目标位置与实际位置之差,调整比例阀阀口大小,使得液压缸准确地跟踪目标的运动轨迹。死区补偿算法可以消除比例阀存在的死区非线性,提高响应速度。最后通过电液比例系统位置控制试验验证所提出的位置控制器。A novel holding and moving device for anode plates are first designed. It applies electro-hydraulic proportional controlled system to precisely control the displacement of holding device such that the problems of off tracking can be avoided during the processes of moving and milling. With the device, the degree of operating automation and control accuracy can be improved, which is beneficial for post processing of anode plates. To guarantee the accuracy of electro-hydraulic proportional system, an adaptive displacement controller containing digital incremental PID regulator and dead-zone compensator is designed. PID regulator aims to track the reference displacement trajectory by regulating the orifice area according to the difference between reference and actual displacements. The deadzone compensator aims to eliminate the nonlinearity of proportional controlled valve to increase its response. Finally, the displacement controller is verified by the experiment.

关 键 词：阳极板夹持移动 电液比例控制 死区非线性 数字式PID 位置控制 

分 类 号：TF35[冶金工程—冶金机械及自动化]