大型结构物模块对接新型装置及多缸同步控制  

New Device for Large Structure Block Docking and Multi-cylinder Synchronization Control Method

作　　者：成思铭 章青[1] CHENC. Siming;ZHANG Qing(College of Mechanical Engineering, Tianjin University, Tianjin, 30035)

机构地区：[1]天津大学机械工程学院,天津300350

出　　处：《中国机械工程》2018年第10期1214-1219,1226,共7页China Mechanical Engineering

基　　金：天津市海洋经济创新发展区域示范项目(CXSF2014-1)

摘　　要：针对海洋工程中大型结构物模块三维重载对接的要求,设计了一种新型的重载对接装置,并提出了一种多缸耦合的同步控制方法,从而实现机电一体化;其耦合控制思想为某时刻输入控制器的信号不仅要考虑自己的跟随误差,还应考虑与其相邻两液压缸之间的误差;对耦合器进行设计,由于液压系统具有非线性特性,因此采用模糊PID算法获取耦合系数;通过AMESim和MATLAB联合同步仿真,并将仿真结果同主从同步控制方式进行对比,表明该方法不仅解决了因主从控制产生的位移滞后问题,避免了系统加减速时产生的波动,而且同步控制精度也得到提高。Aiming at the demands of large structure three-dimensional heavy load docking in marine engineering,a new device for heavy load docking and a multi-cylinder coupling synchronous control method were presented in order to realize the mechatronics. Coupling control method was that signals inputting to the controller consisted of both its own errors and the errors between the adjacent two hydraulic cylinders. And the coupler was designed,using the fuzzy PID algorithm mode to obtain the coupling coefficients,since the algorithm might deal with the non-linear characteristics of the hydraulic system. Through AMESim and MATLAB co-simulation,and the conclusions coming from comparison of simulation results and the master-slave synchronization control mode show that this method eliminates the displacement hysteresis caused by master-slave control,which avoids the fluctuation caused by the system acceleration and deceleration,and the synchronization control precision is improved.

关 键 词：模块对接装置 多缸同步 耦合控制 模糊PID算法 

分 类 号：TP271.3[自动化与计算机技术—检测技术与自动化装置]