关键词: 电液控制, 模型参考模糊自适应, 升降平台, 同步驱动

Abstract: To study the fire detection, alarm, and automatic fire extinguishing techniques in large space building, a fire simulation and detection platform with an area of 1089 m2 (33 m×33 m)has to be lifted and located within a vertical headroom range from 3 m to 24 m according to the actual requirements. In view of the large span of load space, long lifting stroke and strong coupling, a lifting control scheme using 3-couterweights and 3-piston-cylinders for electro-hydraulic synchronous driving is brought forward. Through the design of electro-hydraulic synchronous driving system and the analysis of its working principle, the mathematical model of the driving system is built. According to the great inertia, strong coupling, strong nonlinearity, parameter uncertainty and time-varying in the driving system, a model reference fuzzy adaptive synchronization control algorithm is designed by using fuzzy set theory. Through the corresponding adjustment of the three model reference fuzzy adaptive controllers, the real-time tracking of the dynamic and steady output characteristics of the same reference model can be performed by the three valve-controlled piston cylinders. So the precision synchronous driving control of the platform can also be realized.. The experimental results verify the rationality of the driving scheme for the lifting platform and the effectiveness and robustness of the proposed control method. The dynamic synchronization errors at the three lifting-points of the platform are less than ±3 mm, the steady synchronization errors are less than ±1 mm.

Key words: Model reference fuzzy adaptive, Synchronous driving, Electro-hydraulic control, Lifting platform