CN101054154A - Synchronous control method for stern hydraulic workbench lifting - Google Patents
Synchronous control method for stern hydraulic workbench lifting Download PDFInfo
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Abstract
The invention provides a synchronization control method of stern hydraulic work platform lifting for shipping manufacturing technique field, which includes steps: establishing close loop control of hydraulic jacking oil cylinder lifting by rope stretching type displacement sensor and proportion servo valve, constructing hydraulic multi-cylinder close loop synchronization control technique based on Master/Slave control strategy, carrying zero drift control of hydraulic multi-cylinder synchronization lifting system, and realizing self-adapting on-line self-setting of PID parameter based on fuzzy reasoning. The invention realizes high precision synchronization for the hydraulic multi-cylinder of the stern hydraulic work platform, synchronization precision of the hydraulic multi-cylinder is controlled in +-3 mm, character of dynamic control is high, robustness is strong, synchronization lifting of the platform is basically not influenced by environment, production cycle of fixing propeller and rudder blade of shipping can be shortened from one week to one day by using the method, and safety of operation is greatly increased.
Description
Technical field
What the present invention relates to is a kind of synchronisation control means of the control method that is used for the shipbuilding technical field, particularly a kind of stern hydraulic workbench lifting.
Background technology
Rudder blade and screw propeller are the boats and ships major parts, be positioned at the stern bottom, their feature is: the diameter of screw propeller big (8 meters of 〉=Φ), maximum single-piece net weight 〉=100 tons, the space length little (less than propeller radius) of the blade outer rim disembark tail bottom surface during the screw propeller installing and locating.The bulk of rudder blade big (〉=11 meters * 8 meters * 2.4 meters), maximum single-piece net weight 〉=130 tons.In installation process, in order to realize accurate location and the assembling between rudder blade and screw propeller and the installation pin-and-hole, must guarantee main flat-bed high-precise synchronization lifting (the synchronization lifting precision is controlled in the 5mm), this is most important for improving the precision and the efficient of installing.Along with the development of modern digital control technology, adopt the digital closed loop control technology will improve flat-bed synchronization lifting precision greatly.The installation of rudder blade and screw propeller is all on the quarter carried out, and promptly installing space is subjected to the restriction of stern construction, can not adopt large-scale building berth or sluice to lift up into row and install.
Development along with modern equipment technology, adopt special-purpose oar rudder erecting equipment to become the key that improves installation effectiveness, the mode that adopts for the flat-bed synchronization lifting is the same substantially at present, promptly at four main jacking cylinders of four angle designs of flat-bed, lifting realizes main flat-bed synchronization lifting in the time of by four main jacking cylinders.Argosy tail-rotor rudder erecting equipment as developments such as SHANG MIN, water mountain secret service (SOOSAN) and the Bohai Sea boats and ships heavy industrys of Korea S.And adopt different synchronous control technique, its synchronous control accuracy is very different at the product of each producer.
Through existing technology is looked into new discovery, the stern working platform device of Korea S's water mountain secret service (SOOSAN), its main flat-bed synchronization lifting adopts the lifting of 3 position and four-way reversing valves control jacking cylinder, adopt four constant current parallel pumpss to realize the flow control of four main jacking cylinders, when the oil cylinder lifting, the oil mass that guarantees four oil cylinders is identical, thereby realizes main flat-bed synchronization lifting control.Because the oil mass of four oil cylinders is the same, so can accomplish a synchronization accuracy preferably basically.But when oil seepage phenomena appears in any one cylinder interior or exterior line in four hydraulic actuating cylinders, because the fuel-feed system of four cylinders is constant, the oil mass generation deviation of hydraulic actuating cylinder will appear arriving, cause the inconsistent of oil cylinder stroke speed, the asynchronous rising of platform may damage the flat-bed physical construction when serious.The above-mentioned method of synchronization, at the use initial stage, can realize the synchronization lifting of main platform degree of precision, but shortcoming is: owing to be open loop control, when load changes or exterior line seepage occurs and when causing damping to change, its synchronization accuracy will inevitably change, therefore this high-precise synchronization that only is difficult to realize hydraulic multi-cylinder by open loop control physically, its dynamic quality and adaptivity are poor, can not adapt to the variation of load and external environment automatically, and synchronization accuracy is low.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art and defective, a kind of synchronisation control means of stern hydraulic workbench lifting is provided, make it replace traditional open-loop control method, realize digital accurate detection, compensation and closed loop control, the high-precise synchronization lifting of implementation platform and be not subjected to the variation of external environment.
The present invention is achieved by the following technical solutions, the present invention at first adopts draw-wire displacement sensor to cooperate proportional servo valve to set up the closed loop control of hydraulic lifting oil cylinder lifting, make up hydraulic multi-cylinder closed loop synchronous control technique then based on master/slave (Master/Slave) control policy, carry out the zero creep control of hydraulic multi-cylinder synchro-lift system again, realize the self adaptation online self-tuning of pid parameter at last based on fuzzy reasoning.
Described employing draw-wire displacement sensor cooperates proportional servo valve to set up the closed loop control of hydraulic lifting oil cylinder lifting, be meant: four main jacking cylinders of hydraulic platform adopt draw-wire displacement sensor, stay cord is fixed on the piston rod movement parts, sensor is installed on the cabinet shell, when the oil cylinder piston up-and-down movement, the drive stay cord does reciprocating linear motion, its position signal is exported by the sensor coded pulse, displacement signal is by the PLC counting and carry out analytical calculation, go out corresponding regulated quantity according to the synchro control policy calculation, by PLC output analog signal control ratio servovalve, the hydraulic fluid flow rate that enters four oil cylinders is adjusted in real time, realized the synchronization lifting of four main jacking cylinders.
Described hydraulic multi-cylinder closed loop synchronous control technique based on master/slave control policy, be meant: with one of them oil cylinder is master cylinder, other three oil cylinders are from oil cylinder, is benchmark from oil cylinder with the moving displacement of master cylinder, do accompany movement with respect to master cylinder, when workbench lifting, displacement pickup is monitored the displacement of jacking cylinder in real time, each displacement pickup from oil cylinder is compared with the value of the displacement pickup of master cylinder, its error amount is the control ratio servovalve after PID controller computing separately, correspondingly regulate the flow of each jacking cylinder, thereby realize the synchronization lifting of main flat-bed hydraulic multi-cylinder.
From the accompany movement of oil cylinder, adopt the pid control algorithm of being with the dead band to realize the real-time deviation correcting that moves for each with respect to master cylinder.Since the variation of load, the seepage of oil, and the inequality of load etc. all can influence the synchronization accuracy of system, in order to improve the antijamming capability of system, adopts fuzzy reasoning to realize the online self-tuning of pid parameter.When the tracking error of system during greater than certain value, system carries out in real time from adjusting pid parameter according to fuzzy control rule is online according to error current and error change rate, thus the variation that is not subjected to external environment condition synchronously of the system of assurance.
The zero creep control of described hydraulic multi-cylinder synchro-lift system, be meant: because proportional servo valve is very accurate device, in the platform working process, if be in "on" position for a long time, apportioning valve is subjected to the influence of temperature etc., and zero creep may take place spool position, even this just causes control system not give its signal, jacking cylinder may also can take place to move slowly owing to the zero creep of apportioning valve, and this harm to actual mechanical process is sizable.Because the Zero-drift Signal of spool is minimum, if the real-time monitoring by setting up spool position and the small-signal closed loop control strategy of feedback, increase system that undoubtedly can be bigger controls cost.The control thought of " instant the opening; promptly stop promptly to close " of proportional servo valve has been proposed for this reason, promptly only in the time will operating to any one of four main jacking cylinders, just to its corresponding servoamplifier power supply, in case end of operation, promptly disconnect the power supply of apportioning valve amplifier voluntarily, so prevented effectively because the influence that device zero creep brings, guaranteed the reliability and stability of system.
The described self adaptation online self-tuning of realizing pid parameter based on fuzzy reasoning, be specially: at each adjustment cycle, according to from oil cylinder with respect to the displacement error of master cylinder and the rate of change of displacement error, earlier by the pid parameter K of fuzzy reasoning to corresponding oil cylinder
P, K
I,, K
dCarry out online self-tuning, the PID controller carries out the calculating of error regulated quantity according to the pid control parameter of adjusting again then, then through the flow of corresponding proportional servo valve regulation jacking cylinder, realizes the dynamic synchronization of workplatform hydraulic multi-cylinder.Real-world operation shows: self-adaptive PID controller can improve the dynamic quality of system effectively, has improved the adaptive ability and the antijamming capability of system, and the robustness that model changed when running state was changed is greatly improved.
The present invention has following characteristics: draw-wire displacement sensor cooperates proportional servo valve to form closed loop control, solved the not high problem of synchronization accuracy of open loop control, its control accuracy is directly by concrete control algorithm decision, reduced of the influence of the external factor such as seepage, load variations of oil circuit path, oil, guaranteed the conformability and the stability of control system controller characteristic curve when long-time running system's controller characteristic curve.
Based on the master/slave synchro control policy control thought novelty of Master/Slave, thinking is simple, has solved the high-precise synchronization lifting problem of hydraulic multi-cylinder effectively.The dynamic quality and the robustness of system have been improved effectively based on the pid parameter online self-tuning of fuzzy reasoning.The anti-drift technology of simple actv. then solved system under static state from drifting problem, simple and practical.
Adopt hydraulic multi-cylinder closed loop synchronous control technique of the present invention, stern hydraulic workbench is bearing about 250 tons, under the load of bulk 〉=11 meter * 8 meters * 2.4 meters, the synchronization accuracy of lifting can be controlled at all the time ± and 3mm is with interior (prior art like product can only be controlled at most ± about 10mm), and its close-loop control mode and Adaptive Fuzzy PID online self-tuning technology and drift control technology make the synchronization accuracy of system not be subjected to the influence of external environment conditions such as load variations, hydraulic oil seepage.Total system control accuracy height, dynamic quality is good, strong robustness, product compared to prior art, its stability and reliability all are further enhanced.
Description of drawings
Fig. 1 is that dragline type coder and proportional servo valve constitute loop control theory figure
Fig. 2 is the master/slave Principle of Synchronic Control figure of hydraulic workbench of the present invention
Fig. 3 is the Adaptive PID Control figure based on fuzzy reasoning
Table 1 is an Adaptive PID Control parameter online self-tuning fuzzy reasoning table
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment has provided detailed embodiment and process being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
Present embodiment is implemented on 250 tons of stern hydraulic workbench.As illustrated in fig. 1 and 2, present embodiment adopts the control core of Siemens S7-300 series of PLC as system, the output control ratio servovalve of analog output module SM332, the dragline type linear displacement transducer is fixed on the movable parts of piston rod, sensor is installed on the cabinet shell, when the oil cylinder piston up-and-down movement, drive stay cord and do reciprocating linear motion, its exact location signal is exported by the sensor coded pulse.Displacement signal is by the PLC counting and carry out analytical calculation, synchro control strategy according to hydraulic multi-cylinder is exported analog signal control ratio servovalve by PLC, the hydraulic fluid flow rate that enters four oil cylinders is adjusted in real time, realized the precise synchronization of four main jacking cylinders.
Suppose that with the 1# oil cylinder be the Master master cylinder, and 2～4# oil cylinder is that Slave is from oil cylinder.When workbench lifting, each high-precision dragline type linear displacement transducer is measured the moving displacement of four oil cylinders in real time, controller S7-300 sampled by the constant sampling period, read the pulsed quantity of each coder, moving displacement with the 1# master cylinder is a standard, calculates each from the moving displacement deviation of oil cylinder with respect to master cylinder.If less than master cylinder, then master controller S7-300 control ratio servovalve increases the oil cylinder flow from the moving displacement of oil cylinder, improve kinematic velocity from oil cylinder.If greater than master cylinder, then master controller S7-300 control ratio servovalve reduces the oil cylinder flow from the moving displacement that makes oil cylinder, thereby reduce the kinematic velocity of oil cylinder.When from the moving displacement deviation of oil cylinder and master cylinder less than the dead band threshold value of setting, be the stability of safeguarding motion, avoid entering the motion vibration, control system is not regulated.When offset deviation has exceeded the limit that system allows, then system alarm output, oil cylinder is synchronized with the movement and stops.
On pid control algorithm, each earlier carries out the relative displacement deviation ratio with master cylinder from oil cylinder, according to the size of departure and with respect to the deviation variation rate of last time at first based on fuzzy control rule to pid parameter K
P, K
I,, K
dCarry out online self-tuning, departure obtains corresponding digital controlling quantity corresponding proportional servo valve of direct control after D/A (D/A) conversion, thereby realizes the meticulous adjusting of each relative displacement from oil cylinder again by after the pid control algorithm then.
Figure 2 shows that according to each from the relative displacement deviation of oil cylinder with respect to master cylinder, controller according to deviation and with respect to the deviation variation rate of last time by the online self-tuning of fuzzy reasoning to pid parameter, controlling quantity is again by after the pid control algorithm then, be converted into analog quantity and then control ratio servovalve through the D/A module, realization is to each meticulous adjusting from the oil cylinder relative displacement, thus the high-precise synchronization lifting of implementation platform.Obviously, though four oil cylinders are distributed symmetrically, but because oil circuit path length difference, the variation of four angle loads etc., the pid parameter and the regulated quantity of the PID controller of each oil cylinder also are not quite similar, but under the condition that has adopted based on master/slave synchro control strategy and adaptive Fuzzy PID Control device, system can overcome the influence of extraneous various factors, realizes the high-precise synchronization of system.
For preventing zero creep, only when during main lifting platform, just opening the power supply of corresponding proportional servo valve, and in shut-down operation in control, the power supply of the corresponding proportional servo valve of automatic cutout immediately then.Adopt the control policy of this " instant opening promptly stops promptly to close ", comparatively actv. has prevented the generation of servovalve drift, has improved the stability and the reliability of system.
As shown in Figure 3, for the present invention is based on the Adaptive PID Control figure of fuzzy reasoning.Rudder blade and screw propeller are owing to the particularity of its structure, and concerning four jacking cylinders of platform, its load can not be uniform.Obviously for the situation of this heavy load and skewness, will realize the high-precise synchronization of four cylinders usually, its control duration is long, and adopting adaptive PID control is a kind of solution preferably.
Because the variation of load or the influence of external disturbance, its plant characteristic parameter or structure change, the pid parameter that causes adjusting can not well follow the tracks of setting value and antijamming capability is relatively poor, in order to improve the adaptive ability of system, present embodiment adopts the fuzzy control of rule-based driving to realize the online self-tuning of pid parameter.It is made up of the fuzzy Fuzzy self aligning of the PID controller of a standard and mechanism, and fuzzy self aligning mechanism as input, makes corresponding decision-making by the Fuzzy reasoning, on-line tuning pid parameter K with error e and error change rate ec
P, K
I,, K
d, in the hope of obtaining satisfied control effect.
The adaptive Fuzzy PID Control device can satisfy the error e in the different moment and the requirement that error change rate ec adjusts certainly to pid parameter.If the fuzzy subset of e and ec chooses following word set: e, ec={NB, NM, NS, 0, PS, PM, PB}, element is represented respectively and born greatly in the subclass, and is negative little in bearing, and zero, just little, hit exactly, honest.Proportionality coefficient K
PEffect be the speed of response of quickening system, improve the degree of regulation of system.K
PBig more, speed of response is fast more, and degree of regulation is high more, but easily overshoot, even can cause system's instability.K
PToo small, then can reduce degree of regulation, speed of response is slack-off, thereby prolongs control duration, and static state, the dynamic characteristics of system degenerate.Integral action coefficient K
IEffect be the steady state error of elimination system.K
IBig more, static error is eliminated fast more, but K
IExcessive, easily produce the integration saturated phenomenon in the early stage, cause the big overshoot of response process, but K
IToo small, system's static error is difficult to eliminate, and influences system's degree of regulation.Derivative coefficient K
DEffect be the dynamic characteristics of improvement system, mainly be in response process, to suppress deviation to change to any direction, the variation of deviation is forecast in advance.But K
DExcessive, response process is braked in advance, thereby prolonged control duration, reduce the obstacle overcome ability of system.
From the stability of system, speed of response, each side such as overshoot and stable state accuracy are taken all factors into consideration, to pid control parameter K
P, K
I,, K
dSet up real-time fuzzy control rule respectively as following table 1:
Table 1 Adaptive PID Control parameter online self-tuning fuzzy reasoning table
| Δk PFuzzy reasoning table | |||||||
| e/ec NB NM NS ZO PS PM PB | NB PB PB PM PM PS PS ZO | NM PB PB PM PM PS ZO ZO | NS PM PM PM PS ZO NS NM | ZO PM PS PS ZO NS NM NM | PS PS PS ZO NS NS NM NM | PM ZO ZO NS NM NM NM NB | PB ZO NS NS NM NM NB NB |
| Δk iFuzzy reasoning table | |||||||
| e/ec NB NM NS ZO PS PM PB | NB NB NB NB NM NM ZO ZO | NM NB NB NM NM NS ZO ZO | NS NM NM NS NS ZO PS PS | ZO NM NS NS ZO PS PS PM | PS NS NS ZO PS PS PM PM | PM ZO ZO PS PM PM PB PB | PB ZO ZO PS PM PB PB PB |
| Δk dFuzzy reasoning table | |||||||
| e/ec NB NM NS ZO PS PM PB | NB PS PS ZO ZO ZO PB PB | NM NS NS NS NS ZO NS PM | NS NB NB NM NS ZO PS PM | ZO NB NM NM NS ZO PS PM | PS NB NM NS NS ZO PS PS | PM NM NS NS NS ZO PS PS | PB PS ZO ZO ZO ZO PB PB |
As can be seen from Table 1, as error e and error change rate ec when all being negative big, show that actual displacement value and desired destination value differ bigger, and aggravating this variation tendency, obviously for dwindling the gap with expected value as early as possible, should make proportionality coefficient K this time
PFor honest, and be the influence of eliminating static error, integral parameter K
IFor negative big,,, prevent overshoot, differential coefficient K for improving the dynamic response characteristic of system because proportionality coefficient is honest
dShould be just little, other situation similar analysis.
If the domain of error e and error rate ec is e, ec={-5 ,-4 ,-3 ,-2 ,-1,0,1,2,3,4,5}, e, ec and K
P, K
I,, K
dFuzzy subset's the Gaussian function of the equal Normal Distribution of subordinate function, after using fuzzy compositional rule of inference and adopt gravity model appoach to carry out defuzzification according to the fuzzy control rule of table 1, obtain the fuzzy matrix question blank of pid parameter.In the on-line operation process, control system by to the result treatment of fuzzy logic ordination, table look-up and computing, finish online self-tuning to pid parameter.As follows from tuning formulae:
In the formula: { e
i, ec
i}
p, { e
i, ec
i}
i, { e
i, ec
i}
dBe the pid parameter correction that obtains according to fuzzy rule.K
p, K
t, K
dValue for pid control parameter new behind the online self-tuning.
Use the present invention to realize the high-precise synchronization of the hydraulic multi-cylinder of stern hydraulic workbench, its synchronization accuracy is controlled at ± 3mm in, dynamically control the quality height, strong robustness, flat-bed synchronization lifting are not subjected to the influence of external environment substantially, use the present invention to carry out the installation of propeller for vessels and rudder blade, production cycle is shortened greatly, former installation one cover screw propeller and rudder blade need the time in a week, and existing needs the time just can finish, and Cao Zuo safety simultaneously also increases greatly.
Claims (6)
1, a kind of synchronisation control means of stern hydraulic workbench lifting, it is characterized in that: at first adopt draw-wire displacement sensor to cooperate proportional servo valve to set up the closed loop control of hydraulic lifting oil cylinder lifting, make up hydraulic multi-cylinder closed loop synchronous control technique then based on master/slave control policy, carry out the zero creep control of hydraulic multi-cylinder synchro-lift system again, realize the self adaptation online self-tuning of pid parameter at last based on fuzzy reasoning.
2, the synchronisation control means of stern hydraulic workbench lifting according to claim 1, it is characterized in that, described employing draw-wire displacement sensor cooperates proportional servo valve to set up the closed loop control of hydraulic lifting oil cylinder lifting, be meant: four main jacking cylinders of hydraulic platform adopt draw-wire displacement sensor, stay cord is fixed on the piston rod movement parts, sensor is installed on the cabinet shell, when the oil cylinder piston up-and-down movement, the drive stay cord does reciprocating linear motion, its position signal is exported by the sensor coded pulse, displacement signal is by the PLC counting and carry out analytical calculation, export analog signal control ratio servovalve according to the synchro control strategy by PLC, adjust the hydraulic fluid flow rate of four main jacking cylinders in real time, thereby realize the synchronization lifting of four main jacking cylinders.
3, the synchronisation control means of stern hydraulic workbench lifting according to claim 1, it is characterized in that, described hydraulic multi-cylinder closed loop synchronous control technique based on master/slave control policy, be meant: with one of them oil cylinder is master cylinder, other three oil cylinders are from oil cylinder, is benchmark from oil cylinder with the moving displacement of master cylinder, do accompany movement with respect to master cylinder, when lifting platform, displacement pickup is monitored the displacement of jacking cylinder in real time, each displacement from oil cylinder displacement and master cylinder is compared in real time, its error amount is the control ratio servovalve after PID controller computing separately, the flow of each main jacking cylinder of real-time regulated, the synchronization lifting of realization workplatform.
4, the synchronisation control means of stern hydraulic workbench lifting according to claim 3, it is characterized in that, described hydraulic multi-cylinder closed loop synchronous control technique based on master/slave control policy, be specially: supposition is a master cylinder with the 1# oil cylinder, and 2～4# oil cylinder is from oil cylinder, when workbench lifting, each high-precision dragline type linear displacement transducer is measured the moving displacement of four oil cylinders in real time, master controller was sampled by the constant sampling period, read the pulsed quantity of each coder, moving displacement with the 1# master cylinder is a standard, calculates each from the moving displacement deviation of oil cylinder with respect to master cylinder; If less than master cylinder, then the main controller controls proportional servo valve increases the oil cylinder flow from the moving displacement of oil cylinder, improve kinematic velocity from oil cylinder; If greater than master cylinder, then the main controller controls proportional servo valve reduces the oil cylinder flow from the moving displacement that makes oil cylinder, thereby reduce the kinematic velocity of oil cylinder; When from the moving displacement deviation of oil cylinder and master cylinder during less than preset threshold, control system is not regulated; When offset deviation has exceeded the limit that system allows, then system alarm output, oil cylinder is synchronized with the movement and stops.
5, the multi-cylinder synchronisation control means of digitalisation stern hydraulic workbench according to claim 1, it is characterized in that, the zero creep control of described hydraulic multi-cylinder synchro-lift system, adopt the strategy of " instant opening; promptly stop promptly to close ", promptly only in the time will operating, just its corresponding servoamplifier is powered any one of four main jacking cylinders, in case end of operation promptly disconnects the power supply of apportioning valve amplifier voluntarily.
6, the multi-cylinder synchronisation control means of digitalisation stern hydraulic workbench according to claim 1, it is characterized in that, the described self adaptation online self-tuning of realizing pid parameter based on fuzzy reasoning, be specially: at each adjustment cycle, system elder generation basis from oil cylinder this with respect to the displacement error of master cylinder and with respect to the error rate of last time, realize the online self-tuning of the pid parameter of corresponding oil cylinder earlier by fuzzy reasoning, the PID controller is carrying out the calculating of error regulated quantity according to the pid control parameter of adjusting then, through the flow of corresponding proportional servo valve regulation jacking cylinder, realize the dynamic synchronization lifting of workplatform then.
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