Synchronous control method for stern hydraulic workbench lifting

Abstract

The invention provides a synchronization control method of stern hydraulic work platform lifting for shipping manufacturing technique field, which includes steps: establishing close loop control of hydraulic jacking oil cylinder lifting by rope stretching type displacement sensor and proportion servo valve, constructing hydraulic multi-cylinder close loop synchronization control technique based on Master / Slave control strategy, carrying zero drift control of hydraulic multi-cylinder synchronization lifting system, and realizing self-adapting on-line self-setting of PID parameter based on fuzzy reasoning. The invention realizes high precision synchronization for the hydraulic multi-cylinder of the stern hydraulic work platform, synchronization precision of the hydraulic multi-cylinder is controlled in +-3 mm, character of dynamic control is high, robustness is strong, synchronization lifting of the platform is basically not influenced by environment, production cycle of fixing propeller and rudder blade of shipping can be shortened from one week to one day by using the method, and safety of operation is greatly increased.

Description

technical field [0001] The invention relates to a control method used in the technical field of shipbuilding, in particular to a synchronous control method for lifting and lowering a stern hydraulic working platform. Background technique [0002] Rudder blades and propellers are the main parts of the ship and are located at the bottom of the stern. Their characteristics are: the diameter of the propeller is large (≥Φ8 meters), the maximum net weight of a single piece is ≥100 tons, and the space distance between the outer edge of the blade and the bottom of the stern when the propeller is installed and positioned Small (less than the propeller radius). The space size of the rudder blade is large (≥11m×8m×2.4m), and the maximum net weight of a single piece is ≥130 tons. During the installation process, in order to achieve precise positioning and assembly between the rudder blades and propellers and the mounting pin holes, it is necessary to ensure the high-precision synchrono...

AI Technical Summary

Problems solved by technology

However, when any of the four hydraulic cylinders leaks oil in the internal or external pipelines, since the oil supply system of the four cylinders remains unchanged, there will be deviations in the amount of oil reaching the hydraulic cylinders, resulting in inconsistent stroke speeds of the cylinders. , the platform rises asynchronously, which may damage the mechanical structure of the platform in severe cases

The above-mentioned synchronization method can realize high-precision synchronous lifting of the main platform at the initial stage of use, but the disadvantage is that because it is an open-loop control, when the load changes or the external pipeline leaks and the damping changes, its synchronization The accuracy will inevitably change, so it is difficult to achieve high-precision synchronization of hydraulic multi-cylinders only through physical open-loop control. Its dynamic quality and adaptability are poor, it cannot automatically adapt to changes in load and external environment, and the synchronization accuracy is low.

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