基于数模混合控制的提梁机液压转向控制系统的研究

Research on Gantry Crane Steering System Digital Analog Hybrid Control Scheme

为了减少提梁机液压转向控制系统对昂贵的M4系列换向阀的需求数量,提高性价比,采用换向阀模拟控制加高速开关阀数字控制的方式,通过先粗调后精调的模式来对轮组的转向速度和位置进行控制,并利用软件对转向机构进行有限元分析。结果显示:数模混合控制方案满足转向要求,论证了该控制方案的可行性。

In order to reduce the demand quantity of gantry crane hydraulic steering control system for the expensive M4 series valve and improve cost performance, the mode that analog control with reversing valve and digital control with high speed switch valve was used. The means that rough adjustment first and fine adjustment later was used to control the wheel turning speed and position, then finite element analysis was made for the steering mechanism. The results show the hybrid control scheme can satisfy the steering requirements. It is demonstrated the feasibility of the control scheme.