基于LQR的工程车辆电液制动压力控制  

Pressure Control of Electro-hydraulic Brake for Construction Vehicle Based on LQR

作　　者：李竹芳[1] 童亮[1] 王大江[1] 杨龙[1] 

机构地区：[1]北京信息科技大学机电工程学院,北京100192

出　　处：《液压与气动》2015年第1期109-113,共5页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51275053)

摘　　要：介绍了工程车辆电液制动系统的原理和结构,建立了制动压力控制的数学模型。在分析和阐述二次型最优控制理论的基础上,将二次型最优控制方法——输出跟踪器应用于制动压力控制。运用MATLAB/Simulink进行计算并建立系统仿真模型,对应用二次型最优控制与PID控制方法的控制效果进行比较。结果表明:二次型最优控制较PID控制稳点性好、响应快、滞后小,对期望输出的跟踪性好,可以应用于电液制动系统的制动压力调节。The principle and structure of the construction vehicle electro-hydraulic brake system is introduced. The mathematical model of the brake pressure control is established. By analysising and elaborating the theory of the quadratic optimal control, we apply the quadratic optimal control method-output tracking controller to control the braking pressure. Maflab/Simulink is used to calculate and establish the system simulation model. The effects from the quadratic optimal method and PID method are compared. The results show that the quadratic optimal control method has the advantage of good stability, rapid response, small hysteresis and good track ability, which can be applied to the regulation of brake pressure in the electro-hydraulic braking system.

关 键 词：电液制动 二次型最优控制 输出跟踪器 制动压力调节 

分 类 号：TH137[机械工程—机械制造及自动化]