| The high inertia electro-hydraulic tension simulation winch studied in this paper belongs to a tension control winch.It can control the tension on the cable according to demands,so as a load simulation device to test the characteristics of other winch or the cable.However,the tension simulation winch belongs to a time-varying non-linear system.The system parameters change in real time,the system has high uncertainties.Besides,there is a strong nonlinearity between the tension simulation winch,the cable and the other test winch.What’s more,because of the effect of the system’s high inertial load,the tension control accuracy of the winch is low and the dynamic response characteristics are poor.And there will be a high overshoot and oscillation,which affects the safety and test results of the test,when the tension simulation winch is started,accelerated or decelerated.Therefore,it is of great significance to study the dynamic characteristics and the tension control of the high inertia electro-hydraulic tension winch system to improve the accuracy of the tension control and the dynamic response characteristics of the system.Aiming at the above problems,this article takes a high inertia electro-hydraulic tension simulation winch system as the research object.Then i read a lot of relevant reference at home and abroad,and adopt the method of combining theoretical analysis and experimental research to study the dynamic working characteristics of the key sections in this winch system and the dynamic characteristics of the winch tension control under the working conditions of receiving and laying cable.Then by analyzing the control target and system characteristics of the winch tension control system,this article designes a model reference adaptive controller for this tension winch to improve the accuracy of tension control and the dynamic response of the system.The specific contents are as follows:Chapter 1 firstly introduces the current status of domestic and foreign research on related subjects and the controlled objects.Then analyzes and summarizes the problems of the existing winch tension control system and the difficulties and requirements of the tension control.And finally introduces the research contents and significance of this article.Chapter 2 firstly introduces the working principle of the tension simulation winch system studied in this paper.Then studies the dynamic characteristics of oil pressure control of the proportional relief valve,the nonlinear characteristics of the friction force of the winch actuator and the hydrodynamic characteristics of the cable through modeling simulations and experimental tests.Finally,builds a mathematical model for the winch tension control system under the working conditions of receiving and laying cable,and studies the effects of various system parameters on the tension control characteristics of this system through simulation analysis.Chapter 3 firstly analyzes the tension control target and system characteristics of the winch tension control system studied in this paper,and explains the main tension control problems in the system.Aiming at these tension control problems,a model reference tension adaptive control strategy is designed,and then introduces the requirements of the reference model and the principle of adaptive tension controller.Finally,in order to obtain some timevarying system parameters that have a significant influence on the tension control,they are identified online.Chapter 4 firstly designs a reference model that has good output characteristics based on the system parameters identification result and the requirements of the tension simulation winch system under different working conditions.On this basis,a winch tension adaptive controller is designed through the Lyapunov stability theory,and the amplitude of tension control signal is controlled.Finally,through model simulation,it is verified that the adaptive tension controller has a good tension control performance.Chapter 5 firstly designs the electric control system for this high inertia electrohydraulic tension simulation winch.Then through tension control experiments,compares the control performance of the tension adaptive controller designed in this paper with the control performance of the conventional segmented variable coefficient PID tension controller to verify the superior tension control performance of the former.Chapter 6 summarizes the research content of this article,and looks forward to the future research directions of this subject. |
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