基于MATLAB的液壓系統(tǒng)的設(shè)計(jì)與仿真


摘   要

　　液壓電梯是現(xiàn)代社會(huì)中一種重要的垂直運(yùn)輸工具，由于其具有機(jī)房設(shè)置靈活、對(duì)井道結(jié)構(gòu)強(qiáng)度要求低、運(yùn)行平穩(wěn)、載重量大, 以及故障率低等優(yōu)點(diǎn), 在國(guó)內(nèi)外中、低層建筑中的應(yīng)用已相當(dāng)普遍。液壓電梯是集機(jī)、電、液一體化的產(chǎn)品，是由多個(gè)相互獨(dú)立又相互協(xié)調(diào)配合的單元構(gòu)成，對(duì)液壓電梯的開(kāi)發(fā)研究涉及機(jī)械、液壓及自動(dòng)控制等多個(gè)領(lǐng)域。
　　本文在對(duì)液壓電梯的實(shí)際工作情況做了詳細(xì)分析后，假定了一個(gè)電梯具體的工作條件（包括電梯的最大負(fù)載和運(yùn)行速度等），選定電梯轎廂的支承方式為雙缸直頂式、支承液壓缸為三級(jí)同步液壓缸，并設(shè)計(jì)了滿足條件的電梯液壓系統(tǒng)。然后根據(jù)電梯的工作條件和已設(shè)定參數(shù)，對(duì)各個(gè)液壓元件進(jìn)行了設(shè)計(jì)計(jì)算。最后結(jié)合實(shí)際的情況和一些具體的產(chǎn)品，對(duì)液壓元件的型號(hào)和尺寸的進(jìn)行了確定。
　　在此基礎(chǔ)上，本文對(duì)電梯液壓系統(tǒng)進(jìn)行了數(shù)學(xué)模型的建立，在建模過(guò)程中采用拓?fù)湓斫⑾到y(tǒng)的數(shù)學(xué)模型，即先根據(jù)系統(tǒng)的總體結(jié)構(gòu)建立液壓系統(tǒng)的拓?fù)浣Y(jié)構(gòu)圖，將系統(tǒng)分成若干個(gè)可以獨(dú)立的子系統(tǒng)，然后再分別建立每個(gè)子系統(tǒng)的數(shù)學(xué)模型，最后再根據(jù)拓?fù)浣Y(jié)構(gòu)組合成整個(gè)大系統(tǒng)的數(shù)學(xué)模型。在建立了系統(tǒng)數(shù)學(xué)模型后，對(duì)液壓系統(tǒng)進(jìn)行了仿真分析，得到了系統(tǒng)的速度、壓力和位移曲線，這就更直觀的反應(yīng)了系統(tǒng)的運(yùn)行過(guò)程。
　　根據(jù)仿真結(jié)果分析，液壓缸在運(yùn)行過(guò)程中速度振動(dòng)較大，本論文將PID控制算法加入到系統(tǒng)中，采用積分分離PID控制方法對(duì)本液壓系統(tǒng)進(jìn)行了仿真分析，結(jié)果顯示加入PID控制方法后系統(tǒng)穩(wěn)定性得到了提高，具有良好的工作性能。

關(guān)鍵詞：液壓電梯;雙缸直頂式;三級(jí)同步液壓缸;動(dòng)態(tài)仿真;PID控制

Abstract
　　Hydraulic Elevator is an important vertical transport in a modern society .Because of it has the advantages of engine room setting flexible, requiring a lower level of the well’s structural strength, smooth operation, large load, and Low failure rate Etc, it is already applied very common in the low-rise buildings at home or abroad. Hydraulic Elevator is the products of integration mechanical, electrical, fluid, it is composed of number of independent each other and mutual cooperation modules, The research and development for hydraulic elevator related to mechanical, hydraulic and automatic control etc.
　　In this paper, after detailed analysis of the hydraulic elevator's actual work situation, we assumed the elevator’s specific working conditions (Including the elevator’s maximum load, running speed and so on), and determining the elevator’s supporting style was straight for the double top, using Synchronization of three-tier hydraulic cylinder, And designed the hydraulic system of the elevator to meet the actual conditions. Then according to the working conditions of the elevator and the given parameters, we calculated the design of various hydraulic components. Finally, combination the actual situation and a number of specific products, the hydraulic components’ model and size were determined.
　　On this basis，this paper established a mathematical model for elevator hydraulic system, In the modeling process we used the principle of system topology to establish the mathematical model, first according the overall-structure of the system we establish the hydraulic system topology diagram, so the system is divided into several independent subsystems, and then set up the mathematical model of each subsystem, Finally, composition the mathematical model for the entire system under the topology. According to the mathematical model of the system，we conducted a simulation analysis of the hydraulic system , and we got the system’s speed, pressure and displacement curves, this reflects system’s operation more intuitive.
　　According to analysis of simulation results，the hydraulic cylinder's speed vibrated larger during operation. In this paper, PID control algorithm has been added to the system, used Integral separation PID control method for the hydraulic system’s simulation and analysis. The results showed that after adding PID control method ，system stability has been improved, and reflected the good performance.

Keywords: Hydraulic Elevator; Double straight-top; three-tier synchronous hydraulic cylinder; Dynamic Simulation; PID control

目  錄
第1章 緒論 1
1.1液壓電梯的發(fā)展概況 1
1.1.1 國(guó)外液壓電梯的發(fā)展簡(jiǎn)況 1
1.1.2 國(guó)內(nèi)液壓電梯的發(fā)展簡(jiǎn)況 2
1.2 液壓電梯工作原理概述 2
1.3 液壓電梯的技術(shù)特點(diǎn) 4
1.3.1 液壓電梯的性能要求 4
1.3.2 液壓電梯的優(yōu)點(diǎn) 4
1.3.3 液壓電梯的缺點(diǎn) 5
1.4 本論文的選題意義及研究?jī)?nèi)容 5
1.4.1 本論文的選題意義 5
1.4.2 本論文的研究?jī)?nèi)容 6
第2章 液壓電梯的液壓系統(tǒng)設(shè)計(jì) 8
2.1設(shè)計(jì)背景及工況分析 8
2.2 液壓系統(tǒng)設(shè)計(jì) 9
2.3 液壓缸的設(shè)計(jì) 10
2.3.1 同步伸縮液壓缸的工作原理 10
2.3.2 同步伸縮缸的參數(shù)計(jì)算 11
2.3.3 缸蓋和活塞頭設(shè)計(jì) 15
2.3.4 柱塞缸和各級(jí)活塞缸的長(zhǎng)度計(jì)算 18
2.3.5 液壓缸的密封 20
2.4 泵和電機(jī)的選擇 21
2.4.1 泵排量的計(jì)算 21
2.4.2 電機(jī)的選擇 21
2.5 液壓管路的設(shè)計(jì) 22
2.5.1 管路內(nèi)徑的選擇 22
2.5.2 管道壁厚計(jì)算 23
2.6 油箱設(shè)計(jì) 23
2.7 過(guò)濾器的設(shè)計(jì) 24
2.8 閥的選擇 24
2.8.1 單向閥的選擇 24
2.8.2 電磁溢流閥 24
2.8.3 節(jié)流閥 24
2.9 本章小結(jié) 25
第3章 電梯液壓系統(tǒng)模型的建立 26
3.1電梯上行的數(shù)學(xué)模型 28
3.1.1 泵的數(shù)學(xué)模型 28
3.1.2 單向閥的數(shù)學(xué)模型 29
3.1.3 比例流量閥的數(shù)學(xué)模型 29
3.1.4 液壓橋的數(shù)學(xué)模型 31
3.1.5 液控單向閥的模型 32
3.1.6 液壓缸的數(shù)學(xué)模型 32
3.1.7 系統(tǒng)上行的模型 35
3.2 電梯下行的數(shù)學(xué)模型 36
3.3 本章小結(jié) 38
第4章 電梯液壓系統(tǒng)的動(dòng)態(tài)仿真 39
4.1 simulink簡(jiǎn)介 39
4.2電梯上行時(shí)液壓系統(tǒng)的仿真分析 40
4.2.1 供油子系統(tǒng)的仿真模型 41
4.2.2 液壓橋和液控單向閥組成調(diào)整子系統(tǒng)的仿真模型 41
4.2.3 三級(jí)同步液壓缸構(gòu)成運(yùn)行系統(tǒng)的仿真模型 42
4.3 電梯上行液壓系統(tǒng)的仿真 46
4.3.1 電梯上行液壓缸的速度曲線 47
4.3.2 電梯上行液壓缸的位移仿真曲線 49
4.3.3 電梯上行液壓缸各級(jí)缸筒壓力仿真曲線 49
4.4 本章小結(jié) 50
第5章 電梯液壓系統(tǒng)的PID控制 51
5.1 PID控制原理 52
5.2 位置PID控制算法 53
5.3 數(shù)字PID控制算法的該進(jìn) 54
5.4 液壓電梯液壓系統(tǒng)的PID控制器的設(shè)計(jì)與仿真 56
5.4.1 PID控制器設(shè)計(jì) 56
5.4.2 采樣周期的確定 57
5.4.3 PID控制器參數(shù)整定 58
5.4.4 電梯液壓系統(tǒng)PID控制器仿真 58
5.5 本章小結(jié) 64
結(jié)論與展望 65
致  謝 67
參考文獻(xiàn) 68