装载机线控转向的智能控制  

Intelligent Control on Steering-by-wire of Loaders

作　　者：罗士军[1] 王同建[1] 张建 张子达[1] 

机构地区：[1]吉林大学机械科学与工程学院,130022 [2]山东临工工程机械有限公司

出　　处：《工程机械》2007年第12期1-5,共5页Construction Machinery and Equipment

基　　金：吉林省科技厅资助项目(20040336)

摘　　要：在传统的铰接式装载机全液压转向系统中,利用电液比例换向阀替代原有转向系统中的液压转向器,构成装载机线控转向系统。针对装载机线控转向液压伺服系统中的非线性与各种不确定因素,提出了带有专家智能协调控制器的Bang-Bang控制与神经网络PID控制相结合的新型智能控制方案。通过专家智能控制器的协调控制,充分利用Bang-Bang控制策略与神经网络控制策略的优点,从而达到转向系统所需的响应快、精度高的要求。将文中所设计的控制系统在山东临工工程机械有限公司生产的LG958型装载机上实车装机,并与传统的PID控制方案进行对比试验,试验结果表明该控制方法启动快、无超调,系统的动态性能得到较大改善,具有较强的鲁棒性。In traditional fully hydraulic steering system of articulated loaders, original hydraulic steering device in steering system is substituted by an electro-hydraulic proportional direction valve to compose a steering-by-wire system of loaders. Aiming at the nonlinearity and various uncertain factors in steering-by-wire hydraulic servo system of loaders, a new type of intelligent control scheme with coordinating controllers of expert intelligence and combining Bang-Bang control and nerval network PID is suggested. Through coordinating control of expert intelligence controllers, advantages in control strategies of Bang-Bang and nerval network are fully explored to realize fast response and high accuracy required by a steering system. The control system discussed in the article is installed on model LG958 loader manufactured by Shandong Lingong Construction Machinery Co., Ltd. and comparatively tested with traditional PID control. Test results show that the control method features prompt starting and no overshooting so that the system dynamic performances are significantly improved and presents strong robustness.

关 键 词：线控转向 专家智能 BANG-BANG控制 神经网络 PID(比例积分微分器) 

分 类 号：TH243[机械工程—机械制造及自动化]