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针对钢轨打磨车打磨作业时磨削力控制难题,在分析钢轨打磨车磨削装置磨削力控制系统特点的基础上建立其数学模型,基于此模型采用滑模控制方法抑制外界扰动,实现对钢轨打磨车磨削力的有效控制,保证磨削装置满足现场钢轨打磨要求。仿真结果表明:磨削力方波跟踪控制时,滑模控制方法实现系统无超调控制、动态响应时间仅为1 s、干扰状态下其稳态跟踪误差仅为±7 N,控制系统具有较高的稳态精度、良好的动静态性能和鲁棒性。
Aiming at the problem of grinding force control in grinding process, the mathematical model of grinding force control system is established based on the analysis of the grinding force control system of the grinding system. Based on this model, the sliding mode control method is used to restrain the external disturbance, Effective control of the grinding force of the grinding wheel ensures that the grinding device meets the requirements of the rail grinding on the site. The simulation results show that the sliding mode control method has no overshoot control, the dynamic response time is only 1 s, and the steady-state tracking error is only ± 7 N in the disturbance state. The control system has better performance than the traditional control system High steady-state accuracy, good static and dynamic performance and robustness.