A digital electrohydraulic control system for emergency braking is designed, simulated, built, and tested. First, a dynamic model of the system was developed with Matlab Simulink. The parameters are obtained experimentally. Feedback gains are obtained by tuning the model. Then, the digital controller is implemented on an industrial personal computer programmed in Turbo C++. The control strategy is an improved digital version of the PID control. The key element in the control of the brake was an electro-hydraulic proportional pressure valve. Experiments show that the control system successfully realizes constant-deceleration emergency brake within mine safety rules. The same hardware can be reprogrammed for various hoists, different load conditions, and different control objectives. Although the test was conducted on a mine hoist brake, the control system can be applied to most vehicles.
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机译:设计,模拟,构建和测试设计了一种用于紧急制动的数字电液控制系统。首先,使用Matlab Simulink开发系统的动态模型。参数是通过实验获得的。通过调整模型获得反馈收益。然后,数字控制器在Turbo C ++中编程的工业个人计算机上实现。控制策略是PID控制的改进数字版本。控制制动器中的关键元件是电动液压比例压力阀。实验表明,控制系统在矿井安全规则中成功实现了恒定减速的紧急制动器。相同的硬件可以重新编程各种升降机,不同的负载条件和不同的控制目标。虽然测试在矿井葫芦制动器上进行,但是控制系统可以应用于大多数车辆。
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