Research On Telescopic Boom With Single Pinning System Based On Neural Network PID Control

Telescopic Boom with Single Pinning technique is one of the key techniques in the telescopic boom crane. With tend of large-size and higher complexity,the influence of nonlinear, uncertainty, time-varying, interference and cross coupling interference on the position precision of telescopic system are more and more apparent,and the traditional PID control method can not meet the request. Neural network PID controller, based on identifying network, can realize the control parameters online adaptive adjustment, and can solve electro-hydraulic proportional telescopic system control problems, which has the features of nonlinear and dynamicity.In this paper, based on the project of SMQ1000A telescopic boom crane developed by Dalian University of Technology and Hefei shenma Machinery Manufacturing Co., Ltd., Neural network control system in telescopic system was further studied. The main work in this paper is summarized as follows.(1) Various kinds of telescopic structure characteristics and the telescopic principle were researched, meanwhile, electric and hydraulic control system were designed. Telescopic system matching calculation was achieved and components are selected based on SMQ1000A telescopic boom crane.(2) The simulation models of key component, such as electro-hydraulic proportional valve and telescopic cylinder etc were built based on AMESim, with help of whose models the simulation model of overall electro-hydraulic proportional telescopic system of elescopic boom crane was made.(3) The neural network PID controller was established in Matlab/Simulink with application of the single neuron model,which realized the electro-hydraulic proportional telescopic system intelligent control. The neural network identification device was established in Matlab/Simulink with application of BP neural network, by using the ability of neural networks which can approximate any nonlinear function to simulate the real system input-output relationships. The organic combination of two models constituted core part of overall controller of this paper.(4) Co-simulation of system was researched and the results were analysed. Electro-hydraulic closed-loop control system was established combining AMEsim with Matlab /Simulink which made system co-simulation come true.The simulation results show that the neural network PID control system can solve electro-hydraulic proportional telescopic system control problems,which has the features of nonlinear and dynamicity.Based on simulation model, main factors of influence cylinder position precision were analysed. which brought forward some practical valuable recommendations for design.In this paper, simulation model of telescopic boom with Single Pinning hydraulic system for telescopic boom crane was built up successfully,and made the co-simulation with neural network PID control system, which realized the intelligent control of system.