CN104709778A - Vertically synchronous traction engine and control device thereof - Google Patents

Abstract

The invention discloses a vertically synchronous traction engine. The vertically synchronous traction engine is provided with a driving system, the driving system drives a chain wheel through a speed reducer, the chain wheel drives a lower roller, the lower roller drives a lower gear, and therefore the lower gear drives an upper gear to achieve vertically synchronous transmission. The number of gears is three, the gear I rotates rightwards, the gear III rotates leftwards, and the number of teeth of the gear II is 20-40 and is preferably 30; the modulus of the gear I and the modulus of the gear III are both 2-10 and are preferably 5; the number of teeth of the gear I and the number of teeth of the gear III are both 45-55 and are preferably 49, and a helical angle beta of the gear I and the helical angle beta of the gear III are both 10-16 degrees and are preferably 13 degrees; a profile angle alpha of the gear I and a profile angle alpha of the gear III are both 15-25 degrees and are preferably 20 degrees. The vertically synchronous traction engine overcomes the defects of an existing hollow plate traction engine, works in a vertical transmission mode, and enables the upper roller and the lower roller to achieve synchronous transmission while the speed reducer drives, thereby being capable of guaranteeing non-slip of traction through continuous synchronization, increasing frictional force, and greatly improving production efficiency.

Description

Upper and lower sync pulling machine and control setup thereof

Technical field

The present invention relates to a kind of trailer-type machine device, particularly the upper and lower sync pulling machine of one and control setup thereof.

Background technology

At present, a lot of hollow sheeting traction machine of the prior art only has lower roll dynamic, and top roll is passive.Because be a reductor band movable sprocket, then drive lower roll tooth to rotate, during work, top roll can not follow the very tight of lower roll-in, and the hollow sheeting that easily causes of compression is out of shape.This results in the phenomenon that skidding appears when not compressing in top roll, and the gear of bottom transmission is straight-tooth gear, the gap of transmission is larger, and error is following.

And hollow sheeting traction machines more of the prior art are also with up-down rollers dynamic dual power drive system respectively, and corresponding synchronous device.But the setting parameter of the PID controller of this synchronous device has certain defect.

The Focal point and difficult point of PID controller determines Proportional coefficient K exactly _p, integral coefficient K _iwith differential coefficient K _d, i.e. the adjusting of PID controller parameter.At present, the method for adjusting for pid parameter both at home and abroad also has years of researches experience.The setting method that engineering adopts usually has expanding critical proportion gradient method (Z-N method), decay curve method, normalization method etc.Wherein expanding critical proportion gradient method and normalization method are the same in fact, thought first removes differential and integral action, makes control system be simple proportional control, strengthen proportionality coefficient gradually, make system occur sustained oscillation, now the proportionality coefficient of control system is called aritical ratio gain K _c, oscillation period is called critical period of the oscillation T _c, then according to degree of control and empirical equation determination Proportional coefficient K _p, integral coefficient K _iwith differential coefficient K _dthree parameters.Speed-rising characteristic curve method refers to the recovery curve when known system, determines the delay time of coefficient by graphing method, and the time constant of controlled object and both ratios, then table look-up and try to achieve pid control parameter.

Summary of the invention

Technical matters to be solved by this invention is, provides a kind of sync pulling machine and control setup thereof up and down.The present invention overcomes the deficiency of existing hollow sheeting traction machine, underdrive in employing, the whole synchrodrive of up-down rollers while speed reducer drive, can continually continuously synchronously allow traction non-slip like this, strengthen friction force, substantially increase production efficiency, hollow sheeting traction machine makes flat key+expansion sleeve into from the connection of traditional flat key and connects, improve the error of helical wheel and roll shaft, improve transmission performance.

For solving the problems of the technologies described above, the invention provides a kind of sync pulling machine up and down, described traction machine is provided with active system; Described active system is by reductor band movable sprocket, and sprocket wheel drives bottom roller, and bottom roller drives lower gear, realizes lower gear and drives the synchrodrive up and down cogged.

For solving the problems of the technologies described above, present invention also offers a kind of sync pulling machine up and down, described traction machine is provided with servo system; Servo system directly drives bottom roller, and bottom roller drives lower gear, and then lower gear drives to cog and realizes upper and lower synchrodrive.

For solving the problems of the technologies described above, invention further provides a kind of sync pulling machine up and down, described traction machine is provided with active system, servo system and sync control device; Described active system is by reductor band movable sprocket, and sprocket wheel drives bottom roller, and bottom roller drives lower gear, realizes lower gear and drives the synchrodrive up and down cogged; Described servo system directly drives bottom roller, and bottom roller drives lower gear, and then lower gear drives to cog and realizes upper and lower synchrodrive; Described sync control device, due to active system described in synchro control and servo system, guarantees to realize upper and lower synchrodrive.

Described traction machine may further include: top roll, lower roll, gear, gear wheel shaft, terminal pad, and cross connects, adapter plate, deep groove ball bearing and expansion sleeve.

Described gear is 3; Gear I is dextrorotation, and gear III is left-handed, and the gear II number of teeth is 20 ~ 40, is preferably 30; The modulus of described gear I and gear III is 2 ~ 10, is preferably 5; Described gear I and gear III the number of teeth be 45 ~ 55, be preferably 49, described gear I and gear III helixangleβ be 10 ~ 16 degree, preferably 13 degree; Described gear I and gear III tooth profile angle α be 15 ~ 25 degree, be preferably 20 degree.

For solving the problems of the technologies described above, the present invention has reoffered a kind of sync control device, described sync control device adopts the technological means of master-slave mode synchro control, slave cylinder makes response with the displacement of following active cylinder in time according to the change in displacement of active cylinder, thus reaches the effect be synchronized with the movement up and down; Described sync control device controls active cylinder non-displacement, only by the shift differences of active cylinder and slave cylinder as feedback element, input to the electro-hydraulic proportional valve of slave cylinder, the displacement that dynamic response follows active cylinder made in time by slave cylinder electro-hydraulic proportional valve, realizes the running of upper and lower gear synchronous.

In described sync control device, PID controller can be provided with; The pid control parameter of described PID controller, can adopt following steps to realize:

1. regulating control T integration time is put _i=∞, derivative time T _d=0, by Proportional coefficient K _punder the initial condition (IC) arranged by experience, system is put into operation, Proportional coefficient K of adjusting _p; If curve vibration is frequent, then strengthen proportionality coefficient; If curve overshoot is large, and is tending towards acyclic process, then reduce proportionality coefficient, until try to achieve satisfied 4:1 recovery curve;

2. introduce integral action, now increase aforementioned proportion COEFFICIENT K _pto original 1.2 times; By T _idescendingly to adjust; If curve fluctuation is comparatively large, then should increase T integration time _i; Return not come long-time after if curve departs from given value, then need to reduce T _i, to obtain good recovery curve;

3. the differential action is introduced, by empirical value or press T _d=(1/3-1/4) T _iarrange, and ascendingly to add; If curve overshoot is large and decay is slow, then need to increase T _d; If curve vibration is severe, then T should be reduced _d; By observing curve resize ratio COEFFICIENT K _pand T _i, until try to achieve satisfied recovery curve, ratio, integration, differential coefficient setting valve.

For solving the problems of the technologies described above, the present invention separately provides a kind of fuzzy controller for sync control device, and described fuzzy controller comprises further: fuzzy reasoning module and Traditional PID module;

Described fuzzy reasoning module, for input deviation rate of change eC and deviation e, and exports corrected parameter Δ K _p, Δ K _i, Δ K _d;

Described fuzzy reasoning module, is further used for constantly revising K according to the change of e and ec and fuzzy control rule in running _p, K _i, K _dthese 3 parameters, thus improve the process of the dynamic and static performance of controlled object.

The parameter K that described PID controller exports _p, K _i, K _dcan be represented by formula (4):

$\left\{\begin{array}{c}{K}_p=K_p^{\′}+\mathrm{\Δ}{K}_p\\ K_i=K_i^{\′}+\mathrm{\Δ}{K}_i\\ K_d=K_d^{\′}+\mathrm{\Δ}{K}_d\end{array}\right.---\left(4\right)$

In formula, K _p', K _i', K _d' be pre-tuning value, Δ K _p, Δ K _i, Δ K _dfor corrected parameter.

For solving the problems of the technologies described above, present invention also offers a kind of sync control device as described in aforementioned any one, and/or, as the fuzzy controller for sync control device any one of aforementioned, the application in the machine of sync pulling up and down of aforementioned any one.

The technique effect that the present invention is useful is:

For solving the problems of the technologies described above, the invention provides the structure that a kind of current hollow sheeting traction machine adopts upper underdrive, because what just started is straight-tooth gear, straight-tooth gear has a maximum shortcoming to be exactly that gap between tooth and tooth is too large, gap big error is just large, so invent Helical gear Transmission mode below.

1. one side transmission makes upper and lower two-sided transmission into, improves work efficiency;

2. straight-tooth gear makes angular gear into, improves the gap that traction is synchronous, reduces error;

3. cylinder ordinary casing makes adjustable cylinder into, the function that the up-down rollers of increase is spacing;

4. roller made expansion sleeve connection into by former common keyway connection, improve precision, and easy to maintenance;

5. simplify physical construction, equipment debugging is simpler;

6., when equal work efficiency, reduce equipment investment, keep in repair simpler;

7. device security guard shield all installs additional.

Accompanying drawing explanation

Fig. 1 is upper and lower sync pulling machine gear position structure drawing of device described in the embodiment of the present invention;

Fig. 2 is " master-slave mode " Bit andits control block scheme described in the embodiment of the present invention;

Fig. 3 is for adding the emulation module figure of the single sleeve valve control hydraulic actuating cylinder subsystem after PID controller calibration link described in the embodiment of the present invention;

The encapsulation submodule figure that Fig. 4 controls for PID described in the embodiment of the present invention;

Fig. 5 is synchro system SIMULINK emulation module described in the embodiment of the present invention;

Fig. 6 is the schematic diagram of fuzzy controller described in the embodiment of the present invention;

Fig. 7 is the fuzzy controller constructional drawing for sync control device described in the embodiment of the present invention.

Detailed description of the invention

Describe embodiments of the present invention in detail below with reference to embodiment, to the present invention, how application engineering means solve technical matters whereby, and the implementation procedure reaching technique effect can fully understand and implement according to this.

In one embodiment, the invention provides a kind of sync pulling machine up and down, described traction machine is provided with active system; Described active system is by reductor band movable sprocket, and sprocket wheel drives bottom roller, and bottom roller drives lower gear, realizes lower gear and drives the synchrodrive up and down cogged.

In another embodiment, present invention also offers a kind of sync pulling machine up and down, described traction machine is provided with servo system; Servo system directly drives bottom roller, and bottom roller drives lower gear, and then lower gear drives to cog and realizes upper and lower synchrodrive.

In another embodiment, invention further provides a kind of sync pulling machine up and down, described traction machine is provided with active system, servo system and sync control device; Described active system is by reductor band movable sprocket, and sprocket wheel drives bottom roller, and bottom roller drives lower gear, realizes lower gear and drives the synchrodrive up and down cogged; Described servo system directly drives bottom roller, and bottom roller drives lower gear, and then lower gear drives to cog and realizes upper and lower synchrodrive; Described sync control device, due to active system described in synchro control and servo system, guarantees to realize upper and lower synchrodrive.

Described traction machine may further include: top roll, lower roll, gear, gear wheel shaft, terminal pad, and cross connects, adapter plate, deep groove ball bearing and expansion sleeve.

Described gear is 3; Gear I is dextrorotation, and gear III is left-handed, and the gear II number of teeth is 20 ~ 40, is preferably 30; The modulus of described gear I and gear III is 2 ~ 10, is preferably 5; Described gear I and gear III the number of teeth be 45 ~ 55, be preferably 49, described gear I and gear III helixangleβ be 10 ~ 16 degree, preferably 13 degree; Described gear I and gear III tooth profile angle α be 15 ~ 25 degree, be preferably 20 degree.

In another embodiment, the present invention has reoffered a kind of sync control device, described sync control device adopts the technological means of master-slave mode synchro control, and slave cylinder makes response with the displacement of following active cylinder in time according to the change in displacement of active cylinder, thus reaches the effect be synchronized with the movement up and down; Described sync control device controls active cylinder non-displacement, only by the shift differences of active cylinder and slave cylinder as feedback element, input to the electro-hydraulic proportional valve of slave cylinder, the displacement that dynamic response follows active cylinder made in time by slave cylinder electro-hydraulic proportional valve, realizes the running of upper and lower gear synchronous.

In described sync control device, PID controller can be provided with; The pid control parameter of described PID controller, can adopt following steps to realize:

1. regulating control T integration time is put _i=∞, derivative time T _d=0, by Proportional coefficient K _punder the initial condition (IC) arranged by experience, system is put into operation, Proportional coefficient K of adjusting _p; If curve vibration is frequent, then strengthen proportionality coefficient; If curve overshoot is large, and is tending towards acyclic process, then reduce proportionality coefficient, until try to achieve satisfied 4:1 recovery curve;

2. introduce integral action, now increase aforementioned proportion COEFFICIENT K _pto original 1.2 times; By T _idescendingly to adjust; If curve fluctuation is comparatively large, then should increase T integration time _i; Return not come long-time after if curve departs from given value, then need to reduce T _i, to obtain good recovery curve;

3. the differential action is introduced, by empirical value or press T _d=(1/3-1/4) T _iarrange, and ascendingly to add; If curve overshoot is large and decay is slow, then need to increase T _d; If curve vibration is severe, then T should be reduced _d; By observing curve resize ratio COEFFICIENT K _pand T _i, until try to achieve satisfied recovery curve, ratio, integration, differential coefficient setting valve.

Again in an embodiment, the present invention separately provides a kind of fuzzy controller for sync control device, and described fuzzy controller comprises further: fuzzy reasoning module and Traditional PID module;

Described fuzzy reasoning module, for input deviation rate of change eC and deviation e, and exports corrected parameter Δ K _p, Δ K _i, Δ K _d;

Described fuzzy reasoning module, is further used for constantly revising K according to the change of e and ec and fuzzy control rule in running _p, K _i, K _dthese 3 parameters, thus improve the process of the dynamic and static performance of controlled object.

The parameter K that described PID controller exports _p, K _i, K _dcan be represented by formula (4):

$\left\{\begin{array}{c}{K}_p=K_p^{\′}+\mathrm{\Δ}{K}_p\\ K_i=K_i^{\′}+\mathrm{\Δ}{K}_i\\ K_d=K_d^{\′}+\mathrm{\Δ}{K}_d\end{array}\right.---\left(4\right)$

In formula, K _p', K _i', K _d' be pre-tuning value, Δ K _p, Δ K _i, Δ K _dfor corrected parameter.

For solving the problems of the technologies described above, present invention also offers a kind of sync control device as described in aforementioned any one, and/or, as the fuzzy controller for sync control device any one of aforementioned, the application in the machine of sync pulling up and down of aforementioned any one.

Invention relates to upper and lower synchrodrive hollow sheeting traction machine: comprise upper and lower roller; Upper lower gear; Intermediate gear, multiple bearing; Expansion sleeve etc.Active system traction machine of the present invention is by reductor band movable sprocket, and sprocket wheel drives bottom roller, and bottom roller drives lower gear, and then lower gear drives to cog and realizes upper and lower synchrodrive.Add the gear of top roller, mainly improve the tractive force of traction machine and the gap of friction force.

In addition, the present invention has lower roll power-driven system and the hydraulic synchronous control system of alternative use further.Servo system can be driven separately directly to drive bottom roller by its rectification, bottom roller drives lower gear, and then lower gear drives to cog and realizes upper and lower synchrodrive.Achieve the double insurance of upper and lower synchrodrive.

The present invention adopts underdrive on helical wheel, and top roll is by rotating clockwise, and lower roll is by rotating counterclockwise, the modulus of upper lower gear is 5, the number of teeth is 49, helixangleβ 13 degree, tooth profile angle α 20 degree, cog as dextrorotation, lower gear is left-handed, and to be 30. these parameters be all our careful the calculating of the intermediate gear number of teeth, all has scientific basis, when helical angle 13 degree, the precision between gear and intensity are all best.

This programme simultaneous adaptation is in the application of other corresponding or similar mode of operation.

The accurate hollow sheeting traction machine of the upper and lower synchrodrive of the present invention, comprise gear, gear wheel shaft, terminal pad, cross connects, adapter plate, deep groove ball bearing, expansion sleeve etc.

As shown in Figure 1, be upper and lower sync pulling machine gear position structure drawing of device described in the embodiment of the present invention.Wherein, each Reference numeral is:

1. gear I (left-handed)

2. gear II (dextrorotation)

3. gear III (dextrorotation)

4. cog axle

5. counter gear shaft

6. cross connects

7. terminal pad

8. adapter plate

9. top roll

10. lower roll

Below in conjunction with Fig. 1 illustratively this type how to work:

Traction machine top roll drives lower work by adjustable cylinder, when top roll rises, gear parts is motionless, lower roll drives lower roller by sprocket wheel again by reductor band movable sprocket, and then lower roller drives lower gear, and lower gear drives the whole course of action cogged.Complete machine is furnished with electrical equipment and automatically controls, and can work in order by setup program.Parameters can facilitate as required, accurately arranges, regulate, and meets the needs of different operating mode.

The object of hydraulic synchronous control system of the present invention is exactly that the output realizing two or more power elements reaches the synchronous of precision.Hydraulic synchronous control system of the present invention adopts " master-slave mode " control policy usually." master-slave mode " refers to the output of one of them power element for ideal exports, and remaining power element is all followed this desirable output and is controlled and reaches driving.

The control variable of synchro control has Bit andits control and speeds control two kinds, and namely the feedback element of control system has velocity feedback and Displacement Feedback two kinds.

The present invention adopts " master-slave mode " Strategy For Synchronization Control, makes response in time with the displacement of following active cylinder according to slave cylinder according to the change in displacement of active cylinder, thus reaches the effect of two step motions.This kind of method implements simple and convenient, to active cylinder without the need to Bit andits control, only need by the shift differences of active cylinder and slave cylinder as feedback element, input to the electro-hydraulic proportional valve of slave cylinder, slave cylinder electro-hydraulic proportional valve makes dynamic response in time to follow the displacement of active cylinder.

In sum, hydraulic synchronization control device of the present invention adopts the Strategy For Synchronization Control of " master-slave mode "." master-slave mode " Bit andits control block scheme as shown in Figure 2.

Under synchro control process of the present invention:

1. active cylinder one tunnel: voltage signal U is set by PLC, control voltage is converted into current signal through proportional amplifier and inputs to apportioning valve electromagnet, and electromagnet band movable valve plug moves particular displacement, thus the flow of control cock, thus determine the running velocity of active cylinder.

2. slave cylinder one tunnel: slave cylinder forward path is identical with active cylinder, just distinguishes to some extent in closed loop feedback link.By the displacement pickup L on two oil cylinders _l, L ₂measure the instant displacement from, master cylinder, the difference of displacement in the form of a voltage (offset voltage) feeds back to voltage signal U, under two voltage signal combineds action, revise the control voltage of servovalve, thus instant correction displacement is to guarantee the synchronized operation of twin-tub.The synchronized operation of adoption rate direction valve to two oil cylinders defines closed loop system, not only good operating stability, and control accuracy is high, easy to adjust, and makes the automatic control of PLC also be easy to realize.

Because hydraulic synchronization controls to have forced coupling, nonlinear feature, so need to add calibration link in forward path, come steady state characteristic and the dynamic characteristics of adjustment System.Namely before PLC exports to amplifier, access control algorithm responds fast and stable fast to make system.General control strategy is difficult to the high precision realizing synchro control, so the present invention increases various correction link to improve system performance in system feedforward and feedback channel.

Selecting the correction link which kind of is suitable, is exactly the control algorithm problem of synchronous control system.In prior art, several conventional control algorithm has PID control, Adaptive PID Control, fuzzy-adaptation PID control etc.

In analog control system, the most frequently used control law of controller is that PID controls, its normally a kind of device be made up of op amp, by carrying out the linear combination of ratio (P), integration (I) and differential (D) to form controlling quantity, to being corrected by control object and controlling to the error (deviation et) exported between input.PID controller is a kind of linear controller, and it is formed with real output value y (t) according to given value r (t), wherein,

Controller excursion is:

e(t)＝r(t)-y(t) (1)

PID control law is:

$u\left(t\right)=K_P[e\left(t\right)+\frac{1}{T_I}\underset{0}{\overset{t}{\∫}}e\left(\mathrm{\τ}\right)d\left(\mathrm{\τ}\right)+\frac{T_D\mathrm{de}\left(t\right)}{\mathrm{dt}}]---\left(2\right)$

K _peffect be the speed of response of quickening system, improve system fading margin precision, the deviation signal of control signal pro rata, have deviation once produce, controller produces control action immediately, reduces deviation fast.Integral element T _ibe mainly used for the static error of elimination system, improve system without margin.The power of integral action depends on the integration time constant, T _ilarger, integral action is more weak, otherwise stronger.But T _itoo small, saturation integral phenomenon can be produced at the initial stage of response process, thus cause the larger overshoot of response process.Derivative element T _dmain Function improves system dynamic characteristic, can reflect the variation tendency of deviation signal, and before deviate becomes too greatly, can introduce an early stage corrected signal of actv. in systems in which, thus accelerate the responsiveness of system, reduce regulating time.But T _dcross the obstacle overcome ability that conference reduces system.

Computer controlled is a kind of controlling of sampling, and it can only calculate controlling quantity according to the deviate of sampling instant, and the differential therefore in formula (2) and integration item can not direct effects, need carry out sampling processing.Represent continuous time with a series of sampling instant point k, to replace integration with formula (2), with increment generation also differential, make approximate transform.When sampling period T can save T in enough hour, e (kT) is simplified to e (k), discrete pid algorithm expression formula can be obtained

$\begin{array}{c}u\left(k\right)=K_P\{e\left(k\right)+\frac{T}{T_I}\underset{j=0}{\overset{k}{\mathrm{\Σ}}}e\left(j\right)+\frac{T_D[e\left(k\right)-e(k-1)}{T}\}\\ =K_{P}e\left(k\right)+K_I\underset{j=0}{\overset{k}{\mathrm{\Σ}}}e\left(j\right)+K_D[e\left(k\right)-e(k-1)]\end{array}---\left(3\right)$

In formula,

K-sampling sequence number, k=0,1,2,

The deviate of e (k)-kth time sampling instant input;

The computer export value of u (k)-kth time sampling instant;

T _i-integration time;

T _d-derivative time;

K _p-proportionality coefficient;

K _i-integral coefficient;

K _d-differential coefficient;

PID controlling calculation amount of the present invention is little, and real-time is good, realizes very convenient.The Focal point and difficult point of PID controller determines Proportional coefficient K exactly _p, integral coefficient K _iwith differential coefficient K _d, i.e. the adjusting of PID controller parameter.At present, the method for adjusting for pid parameter both at home and abroad also has years of researches experience.The setting method that engineering adopts usually has expanding critical proportion gradient method (Z-N method), decay curve method, normalization method etc.Wherein expanding critical proportion gradient method and normalization method are the same in fact, thought first removes differential and integral action, makes control system be simple proportional control, strengthen proportionality coefficient gradually, make system occur sustained oscillation, now the proportionality coefficient of control system is called aritical ratio gain K _c, oscillation period is called critical period of the oscillation T _c, then according to degree of control and empirical equation determination Proportional coefficient K _p, integral coefficient K _iwith differential coefficient K _dthree parameters.Speed-rising characteristic curve method refers to the recovery curve when known system, determines the delay time of coefficient by graphing method, and the time constant of controlled object and both ratios, then table look-up and try to achieve pid control parameter.

What the present invention adopted is the performing step of try and cut method.

It is first rule of thumb be set in numerically a certain by the parameter of regulating control that the present invention gathers examination method, then in closed loop system, disturbance is added, observe the curve shape of transient process, if curve is not ideal enough, then with regulating control pid parameter on the impact of system transitions process for foundation, according to first ratio, rear integration, the order of last differential, gathers examination one by one repeatedly by regulator parameter, know and obtain satisfied Mass Control.

Concrete steps are as follows:

1. regulating control T integration time is put _i=∞, derivative time T _d=0, by Proportional coefficient K _punder the initial condition (IC) arranged by experience, system is put into operation, Proportional coefficient K of adjusting _p.If curve vibration is frequent, then strengthen proportionality coefficient; If curve overshoot is large, and is tending towards acyclic process, then reduce proportionality coefficient, until try to achieve satisfied 4:1 recovery curve.

2. introduce integral action, now increase aforementioned proportion COEFFICIENT K _pto original 1.2 times.By T _idescendingly to adjust.If curve fluctuation is comparatively large, then should increase T integration time _i; Return not come long-time after if curve departs from given value, then need to reduce T _i, to obtain good recovery curve.

3. introduce the differential action, then pressed empirical value or by T _d=(1/3-1/4) T _iarrange, and ascendingly to add.If curve overshoot is large and decay is slow, then need to increase T _d; If curve vibration is severe, then T should be reduced _d.Observe curve, suitable resize ratio COEFFICIENT K _pand T _i, until try to achieve satisfied recovery curve, ratio, integration, differential coefficient setting valve.

At the industrial control field of reality, be generally difficult to the accurate modeling realizing controlled object math modeling, carrying out designed system is on this basis optimum hardly.Therefore, the present invention adopts try and cut method to determine three basic specifications of PID controller.In the actual field environment of different embodiment, not necessarily meet the control overflow of system by the determined parameter of try and cut method, also need to carry out scene exploration adjustment to it.When adjustment is gathered in examination, according to the effect tendency of PID every to controller performance, repeatedly K should be adjusted _p, K _iand K _dthe size of parameter.Realizing parameter should first ratio, rear integration, then the step of adjusting of differential.

According to the step of try and cut method of the present invention, the pid control parameter of trying to achieve single sleeve valve control cylinder system is: K _p=5.5, K _i=0.1, K _d=0.29.

Another embodiment of the present invention adopts the Simulink emulation module in Matlba to carry out simulation analysis, and compared with traditional simulation software, Simulink has more directly perceived, convenience, flexibly advantage.Simulink is the kind Visual Simulation Tools in MATLAB, it is a kind of block diagram design environment based on MATLAB, be the software package realizing Modelling of Dynamic System, emulation and analysis, be widely used in the modeling and simulation of linear system, nonlinear system, digital control and digital signal processing.

Simulink can carry out modeling with continuous sampling time, discrete sampling time or two kinds of sampling times mixed, and it also supports multirate system, the sampling rate that the different piece namely in system is different.In order to create dynamic system model, Simulink provides a Modling model diagram of block graphical user interface (GUI), this constructive process only need be clicked and drag mouse action and just can complete, it provide a kind of faster, straightforward mode, and user can see the simulation result of system immediately.

The sampling period arranging system of valve controlling cylinder of the present invention is T _s=25ms.In Simulink, set up the emulation module of the single sleeve valve control hydraulic actuating cylinder subsystem added after PID controller calibration link, as shown in Figure 3, PID Control is wherein the encapsulation submodule that PID controls, as shown in Figure 4.Load force born altogether by two oil cylinders is 2T.

Constant module (constant) and uniform random number module (Uniform Random Number block) is specially added in realistic model, constant module parameter 5000N, uniform random number is ± 1000N between, so will reflect the condition of loading of traction machine when delivering more really.

Arranging input step signal amplitude is 1, and simulation time 6s obtains the unit-step nsponse curve of single sleeve valve control mug system after emulation.Learnt by this unit-step nsponse curve, after adding pid correction link, the step response maximum overshoot of single sleeve valve control cylinder system is very little, and less than 1%, settling time when permissible error is 5% is 0.2 second.

Because hoist cylinder stroke is comparatively large, setting when two cylinder displacement difference are greater than 15mm, equipment alarm and the closedown of oil cylinder apportioning valve.Because the present invention's two oil cylinder Strategy For Synchronization Controls are chosen as " master & slave control ", so require that the operation displacement of slave cylinder to active cylinder will have good followability, could realize synchronous.Fig. 5 is synchro system SIMULINK emulation module.In this emulation module, principal and subordinate two sleeving valve control mug system forms closed loop location respectively and controls, and ensures the positional precision realizing two cylinders outputs.In order to ensure that lifting table remains level in lifting process, the difference (two cylinder displacement difference) of the output of principal and subordinate two sleeving valve control mug system is fed back to slave cylinder, thus the closed loop control that formation one is total, previously described PID calibration link is added in this closed loop control, the real-time followability of slave cylinder system can be ensured like this, strive for being synchronized with the movement with master cylinder.

For active, driven two sleeving valve control mug systems, the present invention ignores manufacture and the assembly error of two oil cylinders and apportioning valve, suppose that all parameters and the performance figure of two subsystems are completely the same, just in the outer load force of oil cylinder, consider extreme case, the stable outer load force 1.8T of setting active cylinder, outer load force 0.2T stablized by slave cylinder.Because two oil cylinders are all connected with rigid platfor by universal-joint, plateau levels maintaining body rack-and-gear application force and rail friction power will act on two oil cylinders simultaneously, so select uniform random number module (Uniform Random Number block) to export to two oil cylinders as outer interference load in SIMULINK simultaneously, size is set to ± 2000N between, simulate as much as possible bogie truck disengagement gear operationally realize operating mode.

Arranging input step signal amplitude is 1, simulation time 6s, bogie truck disengagement gear lifting mechanism master and slave valve-controlled cylinder control system unit-step nsponse curve is obtained after emulation, as can be seen from response curve, active cylinder does not add PID calibration link, step response overshoot is comparatively large, and regulation time when permissible error is 5% is 0.4 second, vibrates near steady-state value.Slave cylinder adds displacement difference inverse feedback and pid correction link, and overshoot is less, and regulation time and active cylinder are substantially identical, and it is delayed that the tracking of slave cylinder to active cylinder exists the regular hour.This is because based on the synchro system of master-slave control strategy, under the prerequisite that system response frequency is certain, the inevitable delayed active hydraulic actuating cylinder of moving displacement of Slave cylinder.But occur but small oscillations near steady-state value, mainly the vibration of active cylinder causes, and wants to eliminate this kind of error, only pid correction link need be added in principal and subordinate's cylinder system.Pid correction link of the present invention is completed by fuzzy controller.

The realization of fuzzy controller of the present invention.

For the control object of complexity, in the middle of real work, operating personal is by observation, reasoning and decision-making, carries out manually operated, and can obtain satisfied effect.And Fuzzy control system is exactly the summary of experience of operating personal is become control law, and use fuzzy theory to simulate the reasoning and decision-making of people, thus realize the control system of control automatically, the structure of fuzzy controller as shown in Figure 6.

Fuzzy control process mainly contains and carries out obfuscation by the defuzzification interface of fuzzy controller, carried out fuzzy logic inference by inference machine and carry out ambiguity solution by sharpening interface judging that these three steps form.And the quality of Fuzzy control system, then depend primarily on these factors of method of the structure of fuzzy controller, reasoning algorithm, the fuzzy rule adopted and fuzzy decision.

Fuzzy control is that the size considering deviation and deviation variation rate carries out adjudicating.When controlling, first need to calculate the actual error exported with given value, then actual error is converted into fuzz variable by precision and quantity-variation, processed by fuzzy control rule again, thus draw fuzzy output variable, finally again fuzz variable is obtained exact value through defuzzification process, deliver to controlled object and implement control action, the basic process of fuzzy control that Here it is.

Fuzzy PID Control Technique is the control technology that intelligent control technology is combined with traditional PID control technology, has adaptive characteristic.Its essence is and a kind ofly utilize current controller excursion and deviation variation rate, in conjunction with the change of controlled process dynamic characteristics, and the practical experience of expert, according to control overflow or objective function, by fuzzy rule inference, three parameters of PID controller are carried out to the control technology of on-line tuning.

As seen from Figure 7, fuzzy-adaptation PID control is made up of fuzzy reasoning and Traditional PID two parts, and fuzzy reasoning part is exactly functionally a fuzzy controller, and its input is deviation variation rate eC and deviation e, and output is corrected parameter Δ K _p, Δ K _i, Δ K _d.Pid parameter Fuzzy self-turning is exactly be in operation constantly to revise K according to the change of e and ec and fuzzy control rule _p, K _i, K _dthese 3 parameters, thus improve the process of the dynamic and static performance of controlled object.

The parameter Kp that PID controller exports, Ki, Kd are represented by formula (4).

$\left\{\begin{array}{c}{K}_p=K_p^{\′}+\mathrm{\Δ}{K}_p\\ K_i=K_i^{\′}+\mathrm{\Δ}{K}_i\\ K_d=K_d^{\′}+\mathrm{\Δ}{K}_d\end{array}\right.---\left(4\right)$

In formula, K _p', K _i', K _d' be pre-tuning value, Δ K _p, Δ K _i, Δ K _dfor corrected parameter.

The input/output variable of fuzzy controller

In another embodiment of the present invention, the hydraulic efficiency pressure system of trailer coupling is made up of single argument pump and 6 fixed displacement motors, and its simplified model is the speed control system of single argument pump list fixed displacement motor, therefore chooses the velocity deviation that motor exports.And deviation variation rate.C is as the input language variable of its input fuzzy controller, and the control task of fuzzy controller is according to motor speed deviation.With the rate of change of velocity deviation.The size of c, in conjunction with the knowledge and experience of expert, judge the situation (namely carrying out Fuzzy processing) run in unit traction system driving process, and the size (namely carrying out ambiguity solution process) of controllable capacity pump discharge capacity is adjusted according to the fuzzy rule set, thus control the moving velocity of unit trailer coupling, make its constant speed smooth operation.

The fuzzy rule of fuzzy controller

The formulation of fuzzy rule is the core of design fuzzy controller.Present system fuzzy controller can be divided into three parts to the selection course of fuzzy rule: the first step selects suitable Fuzzy Linguistic Variable, and second step selects the membership function of each linguistic variable, and the 3rd step sets up fuzzy control rule.

1. the system ambiguous language one of trailer coupling says the selection of variable and membership function as previously mentioned, and trailer coupling speed control system has two input variable velocity deviation e and deviation variation rate ec, and three output variables are Δ K respectively _p, Δ K _i, Δ K _dby motor speed deviation e, velocity deviation rate of change ec and Δ K _p, Δ K _i, Δ K _dfuzzy language value be divided into five sections:

{NB，NS，ZE，PS，PB} (5)

Wherein, NB and NS represents negative large and negative little respectively; PS and PB represents just little and honest respectively; ZE represents zero.

The present invention utilizes the fuzzy toolbox of MATLAB to devise the fuzzy controller of wheel-track type trailer coupling speed governing system, the variation range of input and output is defined as the basic domain in fuzzy set:

e，ec，ΔK _p、ΔK _i、ΔK _d＝(-4，-3，-2，-1，0，1，2，3，4) (6)

Because it is comparatively simple that triangular membership has computing, shared memory headroom is little, is applicable to the characteristic of on-line tuning parameter, and therefore the present embodiment uses Triangleshape grade of membership function, and the mathematical description of Triangleshape grade of membership function is as follows:

In formula, a, b, c are respectively three break abscissas of Triangleshape grade of membership function; μ (x) is the degree of membership at any abscissa place.

The fuzzy control rule of trailer coupling speed governing system

The principle of design of fuzzy controller fuzzy rule is: when error is larger, and the change of controlling quantity should make error reduce rapidly as possible.When error is less except eliminating except error, also will consider the stability of system, anti-locking system produces unnecessary overshoot, even shakes.

For the speed-adjusting and control system of wheel-track type trailer coupling, in order to obtain best system control performance, when different rotating speeds deviation e and deviation variation rate ec, controlled object is to parameter K _p, K _i, K _dself-tuning System parameter rule provides as follows:

L (), when wheel-track type trailer coupling starts or stops operation, rotating speed deviation e is comparatively large, can get larger K _pvalue accelerates speed of response, and in order to avoid there is the phenomenon of the saturated saturation integral of differential, now K _dvalue should not be got too large and should be removed integral action, even if K _i=0.

(2) when after wheel-track type trailer coupling normal operation, motor rotary speed deviation e and deviation variation rate ec value are all in median size, for reducing the overshoot of motor rotary speed, suitably should reduce K _pvalue, K _i, k _dget median size value.

(3) when motor rotary speed is basicly stable, now system deviation e is less, for improving system stability, should increase K _pand K _ivalue, simultaneously for avoiding system to occur oscillatory occurences, improve the obstacle overcome ability of system, when deviation variation rate ec is less, K _dhigher value should be got; When ec is larger, K _dsmaller value should be got.

Δ K is formulated according to above analysis _p, Δ K _i, Δ K _dfuzzy rule, as shown in the table:

Fuzzy method is conciliate in the obfuscation of controller

In order to realize the standardized designs of fuzzy controller, in the present embodiment, adopt Mamdani fuzzy method.Namely the scope of definition deviation e is the consecutive variations amount between [-4,4], and carries out discretization, forms a discrete set.

The fuzzy toolbox of MATLAB provides multiple ambiguity solution method: for the reasoning of Mamdani Fuzzy, can select mom (the very big method of average), biseeto:(region halving method), centroid (regional barycenter method), som (very big minimum method), lom (very big maximum method) or eustom (self-defined method).

The feature good according to trailer coupling system requirements real-time of the present invention, in order to obtain controlling quantity accurately, the present invention adopts centroid gravity model appoach to carry out connecing Fuzzy Calculation.Its computing formula is:

$u=\frac{{\∫}_a^{b}x\·\mathrm{\μ}\left(x\right)\mathrm{dx}}{{\∫}_a^b\mathrm{\μ}\left(x\right)\mathrm{dx}}---\left(8\right)$

In formula, u is the output of fuzzy controller, i.e. three controlling quantitys of wheel-track type trailer coupling speed governing system PID controller; X is fuzzy controller input.Carry out sliding-model control to formula (8) to obtain:

$u=\frac{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{x}_i\·\mathrm{\μ}\left(x\right)}{\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{\μ}\left(x\right)}---\left(9\right)$

In formula, n is the number of discrete variable, other parameter meaning cotypes (9).

All above-mentioned this intellectual properties of primary enforcement, not setting restriction this new product of other forms of enforcement and/or new mode.Those skilled in the art will utilize this important information, and foregoing is revised, to realize similar implementation status.But all modifications or transformation belong to the right of reservation based on new product of the present invention.

Claims (10)

1. about, a sync pulling machine, is characterized in that, described traction machine is provided with active system; Described active system is by reductor band movable sprocket, and sprocket wheel drives bottom roller, and bottom roller drives lower gear, realizes lower gear and drives the synchrodrive up and down cogged.

2. about, a sync pulling machine, is characterized in that, described traction machine is provided with servo system; Servo system directly drives bottom roller, and bottom roller drives lower gear, and then lower gear drives to cog and realizes upper and lower synchrodrive.

3. about, a sync pulling machine, is characterized in that, described traction machine is provided with active system, servo system and sync control device; Described active system is by reductor band movable sprocket, and sprocket wheel drives bottom roller, and bottom roller drives lower gear, realizes lower gear and drives the synchrodrive up and down cogged; Described servo system directly drives bottom roller, and bottom roller drives lower gear, and then lower gear drives to cog and realizes upper and lower synchrodrive; Described sync control device, due to active system described in synchro control and servo system, guarantees to realize upper and lower synchrodrive.

4. upper and lower sync pulling machine according to any one of claims 1 to 3, it is characterized in that, described traction machine comprises further: top roll, lower roll, gear, gear wheel shaft, terminal pad, and cross connects, adapter plate, deep groove ball bearing and expansion sleeve.

5. upper and lower sync pulling machine according to any one of Claims 1 to 4, it is characterized in that, described gear is 3; Gear I is dextrorotation, and gear III is left-handed, and the gear II number of teeth is 20 ~ 40, is preferably 30; The modulus of described gear I and gear III is 2 ~ 10, is preferably 5; Described gear I and gear III the number of teeth be 45 ~ 55, be preferably 49, described gear I and gear III helixangleβ be 10 ~ 16 degree, preferably 13 degree; Described gear I and gear III tooth profile angle α be 15 ~ 25 degree, be preferably 20 degree.

6. a sync control device, it is characterized in that, described sync control device adopts the technological means of master-slave mode synchro control, and slave cylinder makes response with the displacement of following active cylinder in time according to the change in displacement of active cylinder, thus reaches the effect be synchronized with the movement up and down; Described sync control device controls active cylinder non-displacement, only by the shift differences of active cylinder and slave cylinder as feedback element, input to the electro-hydraulic proportional valve of slave cylinder, the displacement that dynamic response follows active cylinder made in time by slave cylinder electro-hydraulic proportional valve, realizes the running of upper and lower gear synchronous.

7. sync control device according to claim 6, is characterized in that, in described sync control device, be provided with PID controller; The pid control parameter of described PID controller, adopts following steps to realize:

1. regulating control T integration time is put _i=∞, derivative time T _d=0, by Proportional coefficient K _punder the initial condition (IC) arranged by experience, system is put into operation, Proportional coefficient K of adjusting _p; If curve vibration is frequent, then strengthen proportionality coefficient; If curve overshoot is large, and is tending towards acyclic process, then reduce proportionality coefficient, until try to achieve satisfied 4:1 recovery curve;

2. introduce integral action, now increase aforementioned proportion COEFFICIENT K _pto original 1.2 times; By T _idescendingly to adjust; If curve fluctuation is comparatively large, then should increase T integration time _i; Return not come long-time after if curve departs from given value, then need to reduce T _i, to obtain good recovery curve;

3. the differential action is introduced, by empirical value or press T _d=(1/3-1/4) T _iarrange, and ascendingly to add; If curve overshoot is large and decay is slow, then need to increase T _d; If curve vibration is severe, then T should be reduced _d; By observing curve resize ratio COEFFICIENT K _pand T _i, until try to achieve satisfied recovery curve, ratio, integration, differential coefficient setting valve.

8. for a fuzzy controller for sync control device, it is characterized in that, described fuzzy controller comprises further: fuzzy reasoning module and Traditional PID module;

Described fuzzy reasoning module, for input deviation rate of change eC and deviation e, and exports corrected parameter Δ K _p, Δ K _i, Δ K _d;

Described fuzzy reasoning module, is further used for constantly revising K according to the change of e and ec and fuzzy control rule in running _p, K _i, K _dthese 3 parameters, thus improve the process of the dynamic and static performance of controlled object.

9. according to claim 8 for the fuzzy controller of sync control device, it is characterized in that, the parameter K that described PID controller exports _p, K _i, K _drepresented by formula (4):

$\left\{\begin{array}{c}{K}_p=K_p^{\′}+\mathrm{\Δ}{K}_p\\ K_i=K_i^{\′}+\mathrm{\Δ}{K}_i\\ K_d=K_d^{\′}+{\mathrm{\ΔK}}_d\end{array}\right.---\left(4\right)$

In formula, K _p', K _i', K _d' be pre-tuning value, Δ K _p, Δ K _i, Δ K _dfor corrected parameter.

10. the sync control device according to any one of claim 6-7, and/or, the fuzzy controller for sync control device according to any one of claim 8-9, the application in the machine of sync pulling up and down such as according to any one of claim 1-5.