基于模糊PID的送杆机构同步控制建模与仿真研究  

Modeling and simulation of synchronous control of rodfeeding mechanism based on fuzzy PID

作　　者：周围 李群明[1,2,3] 高志伟 谢帅 ZHOU Wei;LI Qun-ming;GAO Zhi-wei;XIE Shuai(College of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China;Light Alloy Research Institute,Central South University,Changsha 410083,China;Key Laboratory of High Performance Complex Manufacturing,Central South University,Changsha 410083,China)

机构地区：[1]中南大学机电工程学院,湖南长沙410083 [2]中南大学轻合金研究院,湖南长沙410083 [3]中南大学高性能复杂制造国家重点实验室,湖南长沙410083

出　　处：《机电工程》2020年第9期1006-1012,共7页Journal of Mechanical & Electrical Engineering

基　　金：中南大学横向发展基金资助项目(17430101003718)。

摘　　要：针对某课题组所设计的岩心取样钻机用送杆机构的同步控制问题,对因两边运送油缸的进油流量、油缸泄露、负载力耦合等因素导致运送支架的卡槽中心线与储杆箱中杆件的中心线存在偏角,杆件不能精确落到卡槽内,送杆机构不能正常工作的原因进行了研究。通过同等方式建立了送杆机构的送杆过程的数学模型和两缸闭环同步控制系统模型,并设计了模糊PID控制器;利用MATLAB的Simulink模块进行了仿真分析,并将其结果与传统PID控制效果进行了对比。研究结果表明:模糊PID控制系统工作稳定、响应速度快、同步精度高,油缸能够较好跟踪控制速度和位移信号,低速时最大同步误差只有0.09 mm,高速时最大同步误差只有0.13 mm;送杆机构能够精确送杆。Aiming at the synchronization control of the rod feeding mechanism for the core sampling drilling rig designed by the research team,the reason why the factors such as the oil inlet flow rateof the delivery cylinders,the leakage of the cylinders,and the coupling of load forces cause the centerline of the slot of the delivery bracket and the centerline of the rods in the storage box have an off-angle,the rod cannot accurately fall into the slot,the rod feeding mechanism does not work properly was studied.A mathematical model and a closed-loop synchronous control system model of the rod feeding process of the rod feeding mechanism were established by equivalent control,and a fuzzy PID controller was designed.Simulink module of MATLAB was used for simulation analysis,and the effect of traditional PID control was compared.The results indicate that the fuzzy PID control system works stably,responds fast,and has high synchronization accuracy.The cylinder can track the control speed and displacement signals well.The maximum synchronization error is only 0.09 mm at low speeds,and only 0.13 mm at high speeds.The mechanism is able to precisely feed the rod.

关 键 词：送杆机构 两缸同步控制 电液比例控制 模糊PID控制 

分 类 号：TH137.3[机械工程—机械制造及自动化] TH-39