大型结构物模块对接新型装置及多缸同步控制-中国机械工程.PDFVIP

第 29 卷 第 10 期 中 国机 械 工 程 Vol.29 No. 10 中国机械工程第 29 卷 第 10 期 2018 年5 月下半月 2018 年5 月 CHINA MECHANICAL ENGINEERING pp. 1214- 1219 大型结构物模块对接新型装置及多缸同步控制 成思铭 章 青 天津大学机械工程学院，天津，300350 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。 关键词：模块对接装置；多缸同步；耦合控制；模糊PID 算法 中图分类号：TP271.3 DOI ：10.3969/j.issn. 1004- 132X.2018.10.013 开放科学（资源服务）标识码（OSID）： NewDeviceforLargeStructureBlockDockingandMulti-cylinder SynchronizationControlMethod CHENG Siming ZHANG Qing College of Mechanical Engineering ，Tianjin University ，Tianjin ，300350 Abstract：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 a