Research On Design And Control Of Automatic Lifting System For Swimming Movable-pool-floor

The swimming Movable-pool-floor,with an active bottom and capable of achieving a position adjustable in a certain depth range is applied to swimming pool.Automatic lifting system is the core body of Movable-pool-floor.In the foreign,the research of Movable-pool-floor has been relatively mature and widely used in various types of swimming pools.But the research and application of Movable-pool-floor is very rarely in domestic.Therefore,this paper has developed a set of automatic lifting system of Movable-pool-floor,which suitable for medium and large swimming pools,and has carried on the detailed research to its Kinematics,Mechanical properties and the system control.The specific research contents are as follows:(1)Designed a set of lifting system for Movable-pool-floor,using horizontal screw driving and support bars supporting.Through the study of the relationship between its mechanism and mechanics,the key parameters of the system are analyzed and optimized,and the best overall design scheme is obtained.And Structural design and parameter checking of the key transmission components was done.(2)Based on the principle of virtual displacement,the kinematic analysis of the automatic lifting system of the swimming pool is carried out.The motion law of the system is obtained.Based on the theory of rigid body dynamics,analyzed the kinematic and dynamics.The multi-rigid-body dynamics equation is established.The kinematic and dynamic characteristics of the Movable-pool-floor under different working conditions were simulated by ADAMS software.The results show that there are differences in the force of the support rod and the screw in the system,but the whole system is balanced,and in the uniform lifting conditions,automatic lifting system for swimming Movable-pool-floor ran more smoothly.Finally,the operation of Movable-pool-floor was studied in the pool filled with water conditions.The results show that the water will have a greater impact on Movable-pool-floor.(3)Based on the finite element analysis method,the strength analysis,buckling analysis and transient dynamic analysis of support bars were carried out.The mechanical properties of the support rod under static load and dynamic load are obtained.The strength and analysis of the transmission screw are analyzed,and the strength,natural frequency and vibration mode of the drive screw are obtained.The results show that the support rod and the drive screw can fully meet the requirements of the system load.The mechanical properties of the study provided theoretical basis for system operation and load standard development and subsequent improvement of transmission mechanism.(4)The overall scheme of the motion control system of the automatic lifting system is designed,the speed control loop has been studied emphatically.The mathematical model of inverter and asynchronous motor control system is established.And the ADAMS and Simulink software were used to simulate the motion control of Movable-pool-floor.The simulation model of control system is established which was used PID controller.The simulation results show that the PID control algorithm can control the speed of the platform automatically by the PID parameter setting.