基于双闭环PID的挖掘机发动机自学习控制方法  

Self-learning control method for engine rotate of excavator based on double closed-loop PID method

作　　者：张军[1] 陈思茹[2] 曹继项 司癸卯[1] 张新荣[1] 张宏兵[1] 

机构地区：[1]长安大学公路养护装备国家工程实验室,陕西西安710064 [2]陕西交通职业技术学院经济管理系,陕西西安710018

出　　处：《长安大学学报（自然科学版）》2016年第4期111-118,共8页Journal of Chang’an University(Natural Science Edition)

基　　金：中央高校教育教学改革专项经费资助项目(jgy16029);国家自然科学基金项目(51509006);中央高校基本科研业务费专项资金项目(310825161008)

摘　　要：针对挖掘机分工况下各挡位转速的准确定位问题,以21tZG3210-9挖掘机为对象,以油门位置和发动机转速为反馈参数,提出了分工况下转速设定及其控制方法。用Hersmor G16控制器和线位移油门电机构建了挖掘机发动机控制系统,设计了基于PID的油门电机位置定位控制模型,建立了发动机转速控制的双闭环PID模型,并用极限控制和分段方法改进了转速控制模型,在试验样机上完成了发动机转速控制试验,并采用自行设计的基于LabVIEW的CAN总线监控系统对PID的控制参数进行了在线整定。研究结果表明:基于PID的油门电机控制系统稳定性好,油门电机的位置控制精度eP≤0.5%,最优PID控制参数组合为(5,0.5,0.6);采用双闭环PID方法可有效实现发动机转速自学习控制策略,在此基础上以误差为基础的分段式PID控制策略可缩减自学习时间和改进转速变化的平稳性,转速控制误差en≤10r/min,发动机自学习总时间t<60s;建立了发动机油门位置与转速的线性控制模型,相关系数为0.999,为后续挖掘机功率匹配的节能控制研究奠定了理论基础。In order to solve the problems of positioning engine governor and engine speed for different working tasks, this paper analyzed a 21 t ZG3210-9 excavator and proposed engine speed setting and control method under different working tasks, taking position of throttle motor and engine speed as feedback parameters for control system. Hersmor G16 PLC controller and linear position feedback throttle motor were employed to construct the engine speed control system. Throttle motor position control model and engine speed control model were designed based on PID method and double closed-loop PID model for engine speed control was established. Output limit method was used to improve engine speed control model. Control experiment was carried on ZG3210-9 excavator, and an experiment parameter monitor system based on CAN bus and LabVIEW was used to monitor the control effect and tune three parameters of PID controller. The results show that motor control system has fast response speed and strong robustness. Position control accuracy of throttle motor ep is less than 0.5%. The optimized PID parameters combination is （5,0.5,0.6）. The double closed-loop PID method can realize the control function of positioning engine speed for different working tasks. On this basis, segment PID control strategy under different engine speed errors can significantly reduce control time and improve the stability of engine speed. The total engines study time t is less than 60 s and the engine speed accuracy en is less than 10 r/min. The relationship between throttle motor position and engine speed has good linearity, and its correlation coefficient is more than 0. 999, which lays theoretical foundation for the further research of dynamic energy saving of excavator. 1 tab, 10 figs, 24 refs.

关 键 词：机械工程 挖掘机 节能控制 PID 发动机 油门电机 

分 类 号：U415.511[交通运输工程—道路与铁道工程]