基于积分分离PID的起重机自动恒速落幅控制研究  

Research on Automatic Constant Speed Lowering Control of Crane with Integral Separation PID

作　　者：彭继文 叶俊峰 刘士杰 刘增光[2] 刘超[2] 苏利强 PENG Ji-wen;YE Jun-feng;LIU Shi-jie;LIU Zeng-guang;LIU Chao;SU Li-qiang(Zhejiang Sany Equipment Co.,Huzhou 313000,China;Lanzhou University of Technology,School of Energy and Power Engineering,Lanzhou 730500,China)

机构地区：[1]浙江三一装备有限公司,浙江湖州313000 [2]兰州理工大学能源与动力工程学院,甘肃兰州730500

出　　处：《液压气动与密封》2023年第11期56-61,共6页Hydraulics Pneumatics & Seals

摘　　要：针对起重机落幅过程中油缸载荷变化大和手动恒速落幅控制存在落幅恒速性能差、操作强度高的问题,提出了起重机落幅速度的积分分离PID闭环自动恒速控制,消除油缸载荷大范围变化对恒速落幅控制性能的影响,提高起重机产品的操控舒适性和竞争力。以某型履带式起重机落幅系统为研究对象,首先搭建了变幅平衡阀AMESim仿真模型,对不同先导压力下的平衡阀压差-流量特性进行仿真和实验验证;在此基础上进行整个落幅系统的机电液联合仿真建模,通过仿真和实验验证采用积分分离PID闭环控制方法可使落幅角速度误差控制在5%以内,满足起重机恒速落幅系统设计的要求,为起重机落幅系统的优化设计和性能提升提供理论和技术参考。In response to the problems of large changes in oil cylinder load during the crane lowering process,as well as poor performance and high operational intensity in manual constant speed lowering control,this paper proposes an integral separation PID closed-loop constant speed control for the crane lowering speed,eliminating the impact of large-scale changes in oil cylinder load on the constant speed lowering control performance,and improving the handling comfort and competitiveness of crane products;Taking the lowering system of a certain type of crawler crane as the research object,a simulation model of the variable amplitude balance valve based on AMESim was established,and the pressure differential flow characteristics of the balance valve under different pilot pressures were simulated and experimentally verified;On this basis,the electro-hydraulic co-simulation modeling of the entire lowering system is carried out.The simulation and experimental results shown the integral separation PID closed-loop control method can control the angular velocity error of the lowering system within 5%,meeting the requirements of the constant speed lowering system design of the crane.The research results provide theoretical and technical references for the optimization and performance improvement of the crane lowering system.

关 键 词：起重机 平衡阀 恒速落幅 积分分离PID 

分 类 号：TH137[机械工程—机械制造及自动化]