基于PID模糊控制器的闭式泵控系统特性研究与分析  

Research and analysis on the characteristics of closed pump control system based on PID fuzzy controller

作　　者：张雨新[1] 孙达明 Zhang Yuxin;Sun Daming('(Tangshan Polytechnic College,Tangshan,063299,China)

机构地区：[1]唐山工业职业技术学院

出　　处：《中国农机化学报》2019年第11期150-154,共5页Journal of Chinese Agricultural Mechanization

基　　金：河北省科技计划项目(16210342)

摘　　要：拖拉机液压转向系统在转向时受到阻力较大,并存在转向系统控制精度差,转向过程中的非线性特点明显等特点,车辆不能精确的跟随方向盘进行转向。为提高拖拉机液压转向系统的转向精度和可控性,提出闭式泵控液压转向系统,采用永磁同步电动机直接驱动定量泵,定量泵通过闭式回路驱动转向液压缸。并设计PID模糊控制器闭环控制伺服电机转速,提高闭环控制液压转向系统的响应特性。对所提系统和模糊PID控制器在Matlab中搭建仿真模型,通过试验可知,所提系统及控制器可显著减少转向系统的响应时间由常规PID控制的0.8 s减为0.4 s,超调量由132.6 mm减至13.5 mm,稳定时间由5.7 s减为1.3 s,并且提高电控转向系统的抗干扰能力,满足拖拉机在恶劣条件下实现较为精确线控转向。The hydraulic steering system of tractor suffers great resistance when steering,and the steering system has poor control accuracy.The non-linear characteristics of the hydraulic steering system are obvious during the steering.The tractor can not accurately follow the steering wheel to steer.In order to improve the steering characteristics of hydraulic steering system of tractor,a closed pump-controlled hydraulic steering system is proposed,in which a servo motor is used to drive a quantitative pump directly and the pump is used to drive a hydraulic cylinder through closed loop.A closed-loop PID fuzzy controller is designed to control the speed of the servo motor and improve the response characteristics of the closed-loop control hydraulic steering system.The simulation model of the proposed system and the fuzzy PID controller is built in Matlab.The simulation results show that the proposed system and controller can significantly reduce the response time of steering system from 0.8 s of conventional PID control to 0.4 s,the overshoot from 132.6 mm to 13.5 mm,the stability time from 5.7 s to 1.3 s.And the anti-jamming ability of electronic steering system is improved,so as to meet the requirement of accurate steering by wire in harsh conditions.

关 键 词：拖拉机 模糊PID控制 液压转向 MATLAB 

分 类 号：S219.032.1[农业科学—农业机械化工程]