核电模块协同吊装同步控制联合仿真研究

Joint Simulation Study of Nuclear Power Module Collaborative Hoisting Synchronization Control

核电模块的翻转吊装采用起重机和履带翻转平台协同作业的方式。为实现履带翻转平台自动化随动溜尾吊装,在AMESim中搭建履带翻转平台整机液压系统模型,在ADAMS中建立起重机和履带翻转平台机械模型。分析协同吊装过程不同步的原因,引入PID控制器,并基于FMU接口实现机液联合仿真。仿真结果表明:设置合理的PID控制参数能达到同步控制的目的,满足工程设计要求。

The flip hoisting of nuclear power module adopts cooperative operation mode of crane and crawler flip platform.In or⁃der to realize the automatic and following hoisting of crawler flip platform,the hydraulic system model of the crawler flip platform was built in AMESim,and the mechanical model of the crane and crawler flip platform was built in ADAMS.The reason of the unsynchro⁃nization in the collaborative hoisting process was analyzed,the PID controller was introduced,and the machine⁃hydraulic joint simula⁃tion was realized based on the FMU interface.The simulation results show that setting reasonable PID control parameters can achieve the purpose of synchronous control and meet the requirements of engineering design.