大型装置起竖过程中的振动控制

Vibration Control in the Process of Large Mechanism Erecting

大型装置的起竖一般用多级液压缸来驱动,多级缸在伸出开始阶段和换级时存在振动和冲击现象;为减小振动对负载结构和内部仪器的影响,保证起竖过程的平稳性,对起竖的角速度进行了规划,得到了起竖角度曲线,并用单神经元智能PID的控制策略实现了对该起竖曲线的跟踪控制,仿真证明经过角速度规划和跟踪控制后,起竖过程中的振动明显减小,提高了起竖的稳定性。

The erection of large mechanism is generally driven by multi stage hydraulic cylinder. During the multi stage cylinder stretching out and changing stage, it has vibration and shock. In order to ensure the erection stable and reduce the impact of vibration on the load structure and internal instrument, the erect velocity was planned. And the single neuron intelligent PID control method was applied to the erect angle curve tracking. Simulation results show that the vibration in the process of erecting is obviously reduced by erect velocity plan ning and tracking control and the stability is improved.