桩锤同步振动系统的机电耦合特性及同步控制

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控制同步是实现多锤联动的有效方式之一.针对目前存在的两台桩锤控制同步时出现的机电耦合现象,建立了打桩过程中的＂锤-桩-土＂系统的动力学数学模型,并构建了两桩锤同步振动系统的机电耦合模型,在此基础上进行了数值仿真分析,发现机电耦合的结果是在一定的条件下出现自同步现象.对机电耦合下的同步控制策略与算法进行了研究,确立了＂虚拟主令＋比例-积分-微分算法（PID）＂的控制方式,最后通过试验验证了机电耦合规律的正确性及同步控制策略与算法的有效性,控制同步的精度可以满足工程应用. Control technique is an effective way to synchronize multi-vibration hammer. For the problem of electromechanical coupling in the control of two vibration hammers, the dynamics equations of the vibrating system and mathematical model of electromechanical coupling were established. Then the simulation model of Matlab/Simulink was established, and the simulation results show that the self- synchronous occurs only under certain conditions during electromechanical coupling. Synchronous control strategies and algorithms were studied in the condition of electromechanical coupling, a synchronization control mode named ＂virtual master ＋ PID＂ was established. In the end, experiments verify the characteristics of electromechanical coupling and the synchronous control strategies as well as the algorithms, and the synchronization accuracy proves to be able to meet engineering application.