电动齿轮齿条式升降系统同步控制研究

升降系统的同步性能是电动齿轮齿条升降系统的一项重要技术指标，是桩腿和平台顺利实现升降的保证。本文以一套电动齿轮齿条式升降系统样机为实验对象，并设计了基于PROFIBUS-DP现场总线的PLC同步控制系统，针对电机同步控制系统的参数时变、非线性以及容易受负载扰动等特点，采用一种带PI控制的位移偏差耦合控制算法，在组态的上位机上记录平台的实验数据，然后用MATLAB软件分析实验数据。实验结果表明，系统安全性可靠性较高，同步性能较好，收敛速度快且结构简单，能够用于指导实际平台的同步控制设计。

Research On Synchronous Control of The Electric Gear Rack Jacking System

The performance of synchronous control is one of the most important technical data in Electric Pinion Rack Jacking System, which guarantees the smoothly lifting and lowering of legs and vessel platform. This article takes a set of Electric Pinion Rack Jacking System prototype as the experimental object, and designs the PLC synchronous control system which is based on PROFIBUS-DP fieldbus, aims at the problems such as time varying, nonlinearity, load disturbance and other vulnerable features of multi-motor synchronization, adopts displacement deviation coupling control with PI control strategy, and the experiment data of platform is recorded on the configured upper computer, then analyzed with MATLAB. The Experiment results suggest that this system has the advantages of high reliability and safety, better synchronization performance, rapid convergence and simple structure, it could be used to guide practical platform of synchronous control design.