大型装置起竖系统智能积分控制仿真研究

Simulation Study of Intelligent Integraion Control for Large Mechanism Erection System

构建了基于软件接口的大型装置起竖系统速度控制仿真框架,分别利用Pro/E和ADAMS软件建立起竖机械系统多体动力学模型,利用AMESim软件建立起竖液压系统的模型,利用Simulink建立多级液压缸模型,利用S函数编制控制算法,并通过软件接口实现了多领域系统仿真模型的有机集成。针对起竖系统在起动、换级过程存在冲击的特点,利用正弦加速度函数对起竖速度进行规划,提出将仿人智能积分控制策略应用于起竖角速度跟踪控制中,仿真结果表明了该方法的正确性和有效性。

The simulation framework for velocity control of the large hydraulic-driven mechanism erection system based on software interfaces was constructed. The multi-body dynamic model of the erected mechanism system was built using Pro/E and ADAMS, the hydraulic system model was built in AMESim environment, the multi-stages cylinder model was built by Simulink modules and the control system program was coded utilizing S-function. The integration of simulation models for multidisciplinary system was realized by software interfaces. In according to the characteristic of the impact during the start and stage changing process for erect system, the erect velocity was marked out using sinusoid of acceleration, and the human simulated intelligent controller was applied to the velocity tracking of the erect system. The simulation results demonstrate the correctness and effectiveness of this method.