Research On Synchronization Control Of Rotary System Of Commuter Crane

The disturbance torque of the hydraulic system is generated under the influence of the external load and other factors, Especially in the control of dual motor rotation system, When the output error of the two motors reaches a certain degree, the mutual obstruction between the two motors will inevitably lead to the instability of the system. In addition to considering the dynamic stability with the overall rotation of folding type truck crane, under the change of system load, to ensure accuracy of synchronous control of the torque output of the dual motor system is an important problem that must be solved.For the construction machinery of high power, the existing Hydraulic synchronous control strategy is often too complex, it is difficult to use in practice, or the additional conditions affect the practicality and versatility of the control strategy, Therefore, we need to find a practical and effective, reasonable cost control method. First of all to neutron loop system static, dynamic characteristics of rotary, instruction input error and load disturbance error has done a detailed analysis, for the pro-phase exploration and research of the dual motor synchronization control error generated reasons and influencing factors. In order to reduce the synchronous error of the double motor rotation of the truck crane, a Fuzzy-PID synchronization controller is established, which is used to adapt the nonlinear and time-varying characteristics of the system.The main research work is as follows:1. On the basis of studying the working principle of the rotary mechanism and its components, established the mathematical model of the dual motor rotary hydraulic system. Based on the establishment of the system mathematical model, derived the transfer function of the variable motor, the valve components and through the transfer function researched and looked for the factors that influence the dynamic characteristics of the system.2. Through a lead lag correction and PID correction method of rotary subsystem characteristics(maximum overshoot, rise time, adjust the time, position error, interference error, etc.) were optimal correction, and analyzes the affect the performances of some key parameters, to achieve the optimum match of the parameters for the stability and error control, providing the data for the design of the following dual motor synchronization control.3. By comparing different synchronization control theory, synchronization technology classification, common synchronization control strategy, according to the characteristics of this topic, select the appropriate control strategies and methods.4. Using Fuzzy-PID synchronous controller by Matlab/Simulink simulation software for hydraulic synchronous control system simulation and performance comparison with the traditional PID control. By comparison of the simulation results obtained with different methods, and draw the final conclusion: Fuzzy-PID control system compared to PID controller has better dynamic characteristics, stability and high precision synchronous control.