Study On Intelligent Control Of Hydraulic Synchronous System Of Heavy Stage

Stage equipment is widely used in different kinds of sport venues, theaters, etc; Its performance directly affects the performance of stages’ arts. There are many ways to realize the lifting of stage. The most commonly used way is mechanical transmission. However, in this paper, the control object of this paper is a heavy stage. This paper adopts the hydraulic synchronous system based on fuzzy PID controller, and this can control the speed of the stage in the range of 35~100 mm/s. At the same time, it can make the stage synchronize with the control speed and operate smoothly.This paper makes a systematic study on the hydraulic synchronous system of heavy stage, including stage lifting mechanism, hydraulic system, synchronization control strategy and intelligent control. The main contents of this paper are as follows:(1) The research background and the development of the narrative stage technology at home and abroad are introduced. The hydraulic synchronous control technology research significance, research status and development trend of the hydraulic synchronous control technology are expounded.(2) According to the requirements of the stage, overall design are designed of the lifting system. On comparing the three stage design of lifting mechanism, the portable scissors fork organization is determined. After determination, the paper calculates the related parameters of the institution, including the location parameters, velocity and force analysis. To analysis the calculation results, it shows that using the portable scissors fork organization can reach 1.6 times of the hydraulic cylinder piston rod stroke. The organization can realize the purpose of quick lifting, and has the characteristics of bearing capacity and compact size.(3) According to the requirements of the stage design, proportional speed control valves are used in hydraulic position synchronization system to control the flow. And the system selects the master-slave control strategy, in order to realize synchronous control of hydraulic cylinder.(4) According to the stage of the maximum load and maximum speed, the main parameters of hydraulic system are calculated. And the results are used to select components of the hydraulic system. According to the working parameters, the AMESim model of main components of the hydraulic system are established and simulated. Analysis of the features, known: proportional speed control valve flow rate is directly proportional to the input current; hydraulic lock has a good locking performance. On this basis, the simulation model of the single hydraulic cylinder system is established.(5) For the open loop single hydraulic cylinder system, simulation analysis the system in static and dynamic characteristics of four kinds of extreme conditions. The results show that the system has a heavy static difference, so the positioning accuracy is poor. For the closed loop hydraulic cylinder system, simulation analysis of hydraulic cylinder synchronization, for asynchronous phenomenon, choose a master-slave control strategy in order to realize the synchronous movement of the system.(6) PID controller are adopted in the single hydraulic cylinder system control. Although maximum overshoot amount is large, the attenuation is fast and less oscillation, and the system static error is small. The system has a good localization accuracy and improved the position precision and operational stability of the system.(7) Design of multivariable fuzzy PID controller, and the controller can accord to the load of the hydraulic cylinder and synchronization error parameters online setting. The model of fuzzy PID controller is built in Matlab/Simulink. Comprehensive software advantages, the joint simulation realizes the hydraulic system and control system through the interface. The simulation results show that: in the fuzzy PID controller, the dynamic and static characteristics of the main stage are improved, and the system has good robustness. The maximal differential displacement between Master-slave stage surface is 14.9 mm. The maximum differential displacement between the slave stage surface is 6.2 mm. Those displacements can meet the designed synchronization error as |?|≤20 mm or less.