摘要
针对由于升降机层门联动装置存在非线性因素,导致层门联动装置运动精度低和响应慢的问题,设计了一种非线性控制器。首先,建立了通用变频器和三相电机(采用恒压频比调速方式)的数学模型,在ADAMS中建立了联动装置的虚拟样机,在MATLAB的Simulink中建立了控制系统模型,并设计了模糊PID控制器,通过ADAMS的Controls接口模块与MATLAB实现了机电联合仿真,针对联动装置在实际中运行的两种工况进行了仿真分析,将仿真结果与传统PID的控制结果进行了对比。研究结果表明:相较于传统PID控制器,采用模糊PID控制器的控制系统提升了层门的位置控制精度和响应速度。在工况一中,系统的稳态误差下降至2 mm;在工况二中,系统的响应速度提升了36.4%,满足层门联动装置的控制需求。
Aiming at the problem of low movement accuracy and slow response of the door linkage device due to the non-linear factors in the door linkage device of the lift,a nonlinear controller was designed.The mathematical models of general-purpose inverters and three-phase motors with constant voltage-frequency ratio speed regulation were established,the virtual prototype of the linkage device was built in ADAMS,the control system model of the door linkage device was built in Simulink of MATLAB,and a fuzzy PID controller of the control system model was designed,the electromechanical co-simulation was realized through the Controls interface module of ADAMS and MATLAB.The simulation analysis was carried out for the two working conditions of the linkage device in actual operation,and the simulation results were compared with the traditional PID control results.The research results show that,comparing with the traditional PID controller,the control system using fuzzy PID controller improves the position and velocity control accuracy of the door,the steady-state error of the system is reduced to 2 mm in working condition one,and the response speed is increased by 36.4%in working condition two,the fuzzy PID control system can actually meet the control requirements of the landing door linkage device.
作者
赵秉鑫
卢宁
鹿开旭
张洪伟
刘雪岩
ZHAO Bing-xin;LU Ning;LU Kai-xu;ZHANG Hong-wei;LIU Xue-yan(School of Machine-electricity and Automobile Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100032,China;Hebei Construction Group Co.,Ltd,Baoding 071000,China;Automobile Research Institute,School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)
出处
《机电工程》
CAS
北大核心
2021年第8期1038-1044,共7页
Journal of Mechanical & Electrical Engineering
基金
国家自然科学基金资助项目(51875032)
北京市属高校基本科研业务费专项(X20061,X20071)
北京建筑大学研究生创新项目(PG2020091)。
关键词
施工升降机
联动装置
机电联合仿真
模糊PID
construction lift
linkage device
electromechanical co-simulation
fuzzy PID
