前向补偿结合滑模控制的液压泵/马达斜盘角度控制器

doi:10.13229/j.cnki.jdxbgxb201605019

吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (5): 1513-1519.doi: 10.13229/j.cnki.jdxbgxb201605019

前向补偿结合滑模控制的液压泵/马达斜盘角度控制器

沈伟¹, 张迪嘉², 孙毅³, 姜继海²

1.上海理工大学机械工程学院,上海 200093;
2.哈尔滨工业大学机电工程学院,哈尔滨 150080;
3.北京精密机电控制设备研究所, 北京 100076

收稿日期:2015-08-20 出版日期:2016-09-20 发布日期:2016-09-20
作者简介:沈伟(1984-),男,讲师,博士.研究方向:液压混合动力技术.E-mail:shenwei@usst.edu.cn
基金资助:
国家自然科学基金项目(51505289,51275123).

Control design of the swash plate angle for hydraulic pump/motor based on FSMI method

SHEN Wei¹, ZHANG Di-jia², SUN Yi³, JIANG Ji-hai²

1.School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093,China;
2.School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150080,China;
3.Beijing Institute of Mechanical and Electrical Control Equipment, Beijing 100076,China

Received:2015-08-20 Online:2016-09-20 Published:2016-09-20

摘要/Abstract

摘要： 为了降低液压混合动力挖掘机控制油路的溢流损失,同时提高液压泵/马达斜盘角度控制系统的鲁棒性,本文应用基于改进积分型的前向补偿结合滑模控制的方法(FSMI)设计了控制器。首先,介绍了可切换控制的基于压力共轨系统(CPR)的液压混合动力挖掘机的工作原理以及降低控制油路压力的必要性。然后,通过分析斜盘所受的轴向压紧力和传统数学模型的结构对系统模型进行了改进,同时利用数学分析的方法将FSMI方法应用于该模型。最后,结合仿真分析的工况搭建了试验台并进行了试验。仿真和试验的结果表明,所提出的控制方法可以有效地提高斜盘角度控制的鲁棒性。

关键词: 流体传动与控制, 斜盘角度控制, 前向补偿, 滑模控制

Abstract: In order to reduce the throttling loss of the control circuit of the hydraulic hybrid excavator, the control pressure of the loop should be reduced. However, it would tend to deteriorate the control performance of the swash plate angle. Hence, the fee forward compensation combining with the sliding mode control based on the improved integral method (FSMI) is used to enhance the robust performance. First, the basic principle of the hydraulic hybrid excavator based on common pressure rail combined with switched function (HHES) is introduced and the necessity of reducing the control pressure is explained. Then, the improved mathematical model of the system is presented by analyzing the force applied on the swash plate; meanwhile, the FSMI is stated in details. Finally, the test rig is constructed corresponding to the simulation. Both of the simulation and experimental results show that the proposed method is effective and can enhance the robust performance of the system.

Key words: turn and control of fluid, control of the swash plate angle, feed forward compensation, sliding mode control

中图分类号:

TH137

沈伟, 张迪嘉, 孙毅, 姜继海. 前向补偿结合滑模控制的液压泵/马达斜盘角度控制器[J]. 吉林大学学报(工学版), 2016, 46(5): 1513-1519.

SHEN Wei, ZHANG Di-jia, SUN Yi, JIANG Ji-hai. Control design of the swash plate angle for hydraulic pump/motor based on FSMI method[J]. 吉林大学学报(工学版), 2016, 46(5): 1513-1519.

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前向补偿结合滑模控制的液压泵/马达斜盘角度控制器

Control design of the swash plate angle for hydraulic pump/motor based on FSMI method

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