机电液融合控制型调平系统的稳定性研究  

The stability study of hydromechatronics-integrated leveling system

作　　者：曹学鹏[1,2] 程磊[3] 焦生杰 曹丹 

机构地区：[1]长安大学工程机械学院,陕西西安710064 [2]徐工集团工程机械股份有限公司,江苏徐州221004 [3]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《广西大学学报（自然科学版）》2013年第3期746-751,共6页Journal of Guangxi University（Natural Science Edition）

基　　金：教育部博士点基金项目(20110205110002)

摘　　要：为使大高度高空作业平台自动调平过程拥有良好的稳定性能,通过各子模型的搭建与模型整合构建出接近实际系统的机电液统一模型,特别对以往研究中忽视的连杆传动机构进行建模研究。基于调平系统模型并结合经典控制理论构造出满足系统稳定性的条件,从而获得给定工况下系统相对稳定的放大器增益;对恒连杆传动系数和变连杆传动系数下系统的稳定性进行了分析,表明连杆传动机构的位移—角度传动系数随输出调平角而变化,结果显示该系数的改变可导致幅值裕度和相位裕度分别产生约36 dB和72.8°的波动,从而引起系统的稳定性能的迁移。为此,提出采用变增益调节的方式以保持恒定的开环增益,实现变工况下系统稳定性的自适应控制。forms with In order to get large working a better stability for the auto-leveling system of mobile elevating work platheight, a unified mathematical model close to the actual system was built for the hydromechatronics-integrated system by construction and integration of sub-models, especially for links driving mechanism neglected in previous studies. Based on the leveling system model and combined the classical control theory to build the conditions which meet stability requirements, an amplifier gain that reached the relatively stability in given status was obtained. Focused on the sta- bility analysis under the constant and variable link transmission coefficient, it was found that the displacement-angle coefficient of links driving mechanism changes with the output leveling angle, and coefficient variation would induce fluctuations of amplitude margin and phase margin about 36 dB and 72. 8°, which could generate a migration of system stability. To this regard, the approach using varying-gain adjustments to keep a constant open-loop gain to achieve an adaptive control of system stability under variable conditions was proposed.

关 键 词：调平系统 融合控制 统一模型 稳定性 

分 类 号：N273.06[自然科学总论]