摘要
以多功能旋挖钻机为研究对象,针对钻桅垂直度手动纠偏时间长且精度不高的问题,采用闭环电液比例控制技术及PID控制技术对自动纠偏控制系统进行了设计。通过分析计算得到闭环系统各个环节的传递函数,并利用MATLAB-Simulink实现油缸位移到钻桅倾角的函数运算,从而建立整个系统的数学模型。利用Simulink工具箱对系统进行动态仿真,根据仿真结果,整定PID参数,提高系统动态响应特性,使钻桅能快速的自动纠偏到控制精度范围内,提高了钻机成孔质量和工作效率。
Based on the multi - function Rotary Drilling Rig, focusing on the difficult verticality manual control problem, an automatic control system for adjusting verticality of the Drilling Mast was designed by using electro - hydraulic proportional control technology and PID control technology. The transfer function of each link of the closed - loop system was gotten, and the function operation between displacements of two cylinders and angle of mast was realized by using MATLAB - Simulink toolbox, finally, the mathematic model of the whole control system was established. The simulation of the dynamic performance was realized using MATLAB - Simulink toolbox. According to the results of simulation, the PID tuning was carried out to improve dynamic response performance of system, finally to improve the quality and efficiency of drilling.
出处
《计算机仿真》
CSCD
2008年第4期317-320,342,共5页
Computer Simulation
关键词
旋挖钻机
电液比例控制
自动纠偏
数学建模
动态仿真
Rotary drilling machine
Electro - hydraulic proportional control
Automatic control of adjusting verticality
Mathematics modeling
Dynamic simulation
