剪叉式升降平台起升速度液压控制系统设计与仿真分析  

Design and simulation analysis of hydraulic control system for lifting speed of scissor lifting platform

作　　者：赵鑫 纪爱敏[1] 邓铭 张磊[1] ZHAO Xin;JI Ai-min;DENG Ming;ZHANG Lei(College of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China)

机构地区：[1]河海大学机电学院,江苏常州213022

出　　处：《机电工程》2021年第9期1174-1179,共6页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51805144,51175146);常州市高空作业装备与智能技术重点实验室开放基金资助项目(CLAI201805)。

摘　　要：剪叉式升降平台的工作平台起升阶段速度变化率大、缓冲时间长、运动不稳定,针对这些问题,对其工作平台的速度控制系统进行了研究。首先,用速度瞬心法建立了工作平台的起升速度函数,通过分析得到了工作平台运动不稳定的原因;然后,根据剪叉式升降平台的工作原理设计了一套液压控制系统,并建立了其相对应的速度控制系统的数学模型;最后,利用Simulink对工作平台的速度控制模型进行了仿真实验,并将其对传统PID控制和模糊PID控制下的系统性能分别进行了对比分析。研究结果表明:在系统性能方面,与传统PID控制相比,模糊PID控制对阶跃信号的调节时间明显缩短;且在0.5 s处工作平台的速度即达到稳定,无超调现象出现,同时也消除了系统起升阶段的振动,能够将工作平台速度快速稳定在期望的速度,具有比传统PID更好的控制性能和运动稳定性。Aiming at the problems of large speed change rate,long buffer time and unstable movement of the working platform of scissor lifting platform,the speed control system of the working platform was investigated.Firstly,the lifting speed function of the working platform was established by the method of instantaneous center of speed,and the reason of unstable movement of the working platform was obtained through analysis.Then,according to the working principle of scissor lifting platform,a hydraulic control system was designed and the corresponding mathematical model of speed control system was established.Finally,the simulation experiment of the speed control model of the working platform was carried out by using Simulink,and the system performance under traditional PID control and fuzzy PID control were analyzed and compared.The results indicate that comparing with the traditional PID control,the adjusting time of fuzzy PID control to step signal is significantly shortened,the speed of the working platform is stabilized at 0.5 seconds without overshoot phenomenon,and the vibration of the system in the lifting stage is eliminated,which can quickly stabilize the speed of the working platform at a desired speed,and has better control performance and motion stability than traditional PID control.

关 键 词：剪叉式升降平台 速度控制系统 模糊PID 运动稳定性 

分 类 号：TH211.6[机械工程—机械制造及自动化] TH137