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自動控制综合设计
自动控制综合设计
——电梯液压系统的设计
指导老师： 李斌老师、张祥老师
学 院： 机电学院
专 业： 机械电子
班 级： 2010级2班
姓 名： 刘 小 凤
学 号：
2013年6月1
1.2设计要求························································2
二、设计目的及意义···············································3
三、建立数学模型·················································3
3.1电梯上行的数学模型··············································4
3.1.1 泵的数学模型·················································4
3.1.2 单向阀的数学模型·············································4
3.1.3 比例流量阀的数学模型·········································5
3.1.4 液压桥的数学模型·············································6
3.1.5 液控单向阀的模型·············································7
3.1.6 液压缸的数学模型·············································7
3.2 电梯下行的数学模型·············································9
四、电梯液压系统的动态仿真······································9
4.1电梯上行时液压系统的仿真分析·····································9
4.1.1 供油子系统的仿真模型··········································10
4.1.2 液压桥和液控单向阀组成调整子系统的仿真模型····················10
4.1.3 三级同步液压缸构成运行系统的仿真模型··························11
4.1.4 电梯上行液压系统的仿真········································13
4.2 电梯上行液压缸的速度曲线········································14
4.3 电梯上行液压缸的位移仿真曲线····································15
五、电梯液压系统的PID控制······································16
5.1 PID控制原理····················································16
5.2 位置PID控制算法················································17
5.3 干扰作用下控制系统的设计·········································18
5.4 数字PID控制算法的改进··········································19
5.5 液压电梯液压系统的PID控制器的设计与仿真························20
5.5.1 PID控制器设计···············································20
5.5.2 采样周期的确定··············································21
5.5.3 PID控制器参数整定·········································22
5.5.4 电梯液压系统PID控制器仿真··································22
六、控
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