自動控制综合设计.doc

自动控制综合设计 ——电梯液压系统的设计 指导老师： 李斌老师、张祥老师 学 院： 机电学院 专 业： 机械电子 班 级： 2010级2班 姓 名： 刘 小 凤 学 号： 2013年6月1 1.2设计要求························································2 二、设计目的及意义···············································3 三、建立数学模型·················································3 3.1电梯上行的数学模型··············································4 3.1.1 泵的数学模型·················································4 3.1.2 单向阀的数学模型·············································4 3.1.3 比例流量阀的数学模型·········································5 3.1.4 液压桥的数学模型·············································6 3.1.5 液控单向阀的模型·············································7 3.1.6 液压缸的数学模型·············································7 3.2 电梯下行的数学模型·············································9 四、电梯液压系统的动态仿真······································9 4.1电梯上行时液压系统的仿真分析·····································9 4.1.1 供油子系统的仿真模型··········································10 4.1.2 液压桥和液控单向阀组成调整子系统的仿真模型····················10 4.1.3 三级同步液压缸构成运行系统的仿真模型··························11 4.1.4 电梯上行液压系统的仿真········································13 4.2 电梯上行液压缸的速度曲线········································14 4.3 电梯上行液压缸的位移仿真曲线····································15 五、电梯液压系统的PID控制······································16 5.1 PID控制原理····················································16 5.2 位置PID控制算法················································17 5.3 干扰作用下控制系统的设计·········································18 5.4 数字PID控制算法的改进··········································19 5.5 液压电梯液压系统的PID控制器的设计与仿真························20 5.5.1 PID控制器设计···············································20 5.5.2 采样周期的确定··············································21 5.5.3 PID控制器参数整定·········································22 5.5.4 电梯液压系统PID控制器仿真··································22 六、控