导　　师： 高文中

学科专业： 081102

授予学位： 硕士

作　　者： ;

机构地区： 石家庄铁道大学

摘　　要： 我国“十二五”规划的各项重点工程建设相继开工,将大量使用挖掘机械。小型挖掘机由于体积小、方便灵活的特点得到广泛应用。电控系统是挖掘机的重要组成部分,起到“中枢神经系统”的作用。所以研究挖掘机电控系统对节能减排、提高工作效率等方面具有重要意义。 本文主要设计了小型挖掘机的电源电路、起动电路、充电电路、发动机控制电路和其它附属电路,重点研究了挖掘机油门电控系统。通过对油门伺服控制技术的相关分析和研究,建立了步进电机、传动机构、油门拉杆等整个油门控制系统的数学模型,推导了传递函数并进行了稳定性分析,经软件仿真发现系统稳定,但存在振荡和超调现象,需进行控制策略研究。 设计了经典PID控制器,通过MATLAB环境建立了仿真模型,用试凑法对参数进行了调整,观察系统在阶跃信号输入下的响应曲线表明：系统的动态和稳态特性得到较好的改善,但还是不能满足系统在不同工况下稳定运行的要求,进而提出模糊控制策略的研究。 设计了模糊PID控制器,用FIS编辑器建立了模糊控制规则表,列出各变量的隶属度表。通过MATLAB仿真实验,分析了系统在阶跃输入信号和方波输入信号下的响应曲线,结果表明：模糊PID控制器的效果要优于经典PID控制器,并能实现参数的在线调整,满足了设计要求。 设计了PLC硬件控制电路、传感器电路和相关接口电路,编写了系统控制软件程序,并给出了程序流程框图及部分程序。搭建了油门控制实验系统,对系统程序在软件和实验环境下进行了运行、测试和优化,完成实验和设计任务。 仿真和部分实验证明本文设计的电控系统性能可靠,运行稳定。可应用于小型挖掘机的电控系统。 The constructions of key projects of "12th Five-Year plan" have been started, and it will use a large amount of mining machinery. The mini excavators are widely use for the features of small size, convenient and flexible. The electrical control system is an important part of the excavator, it play the role of the "central nervous system". So, study the electrical control system has important significance in energy conservation and improving work efficiency. This article mainly designs mini excavators'power circuit, starting circuit, charging circuit, motor control circuit and other ancillary circuits. The research focuses on the throttle control system of excavator. Through the analysis and research of throttle servo control technology, the mathematical model of the stepper motor, transmission, throttle lever, throttle control system and so on are established, and we derive the transfer function and analysis the stability of the system. The software simulation shows that the system is stable, but oscillations and overshoot still exist. The controller is designed by the classic PID technique and the simulation model is established in MATLAB environment. The parameters are adjusted by trial and error method, then, observe the response curve of the system under the step input signal, the result shows that he dynamic and static characteristics of the system have been improved, but still can't meet the requirements of system running stable under different operating conditions. So the fuzzy control strategy is put forward. The fuzzy PID controller is designed, and the fuzzy regular table is established with the FIS editor, the membership tables of the variables are established, too. By the MATLAB simulation experiment, the response curve of the system under the step input signal and the square wave input signal is analyzed. The result shows that the control effect of fuzzy PID controller is better than the classics PID controller. Fuzzy PID controller can adjust the parameters online, so it can meet the

关 键 词： 小型挖掘机 电控系统 步进电机 控制 模糊控制

领　　域： [建筑科学]