轴向柱塞液压马达的约束旋转角度前馈控制  

Constrained Rotation Angle Feed-forward Control of Axial Plunger Hydraulic Motor

作　　者：赵晓敏 郭勇[2] ZHAO Xiao-min;GUO Yong(School of Automotive Engineering,Qinghai Communications Technical College,Xining 810003,China;School of Mechanical and Electrical,Hunan University of Science and Technology,Xiangtan Hunan 411201,China)

机构地区：[1]青海交通职业技术学院汽车工程学院,西宁810003 [2]湖南科技大学机电学院,湖南湘潭411201

出　　处：《组合机床与自动化加工技术》2021年第4期100-104,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：湖南省2018年自然科学基金项目(2018JJ3182)。

摘　　要：为了充分利用非线性调节系统的动态特性和受约束资源,以便根据先验未知参考信号快速和精确地控制轴向柱塞液压马达,提出了一种新颖的基于平坦度的旋转角度前馈控制策略。该策略能够实时地考虑相关的状态和输入约束,即利用当前可获得的信息进行在线控制,而不依赖于在线优化。利用微分平坦度特性,通过切换状态变量滤波器,导出前馈控制器,并考虑轨迹规划器的现有状态和输入约束。最后,通过Matlab/Simulink仿真研究和轮式装载机测试进行了实验分析。结果表明,相比无约束情况下提出的旋转角度控制器的转换时间缩短了49%,具有更优的实时控制性能。In order to make full use of the dynamic characteristics and constrained resources of the non-linear regulating system,so as to quickly and accurately control the axial plunger hydraulic motor according to the prior unknown reference signal,a novel flatness-based rotation angle feedforward control strategy is proposed.This strategy can take into account the relevant state and input constraints in real time,i.e.on-line control using currently available information,without relying on-line optimization.Based on the differential flatness characteristic,the feed-forward controller is derived by switching the state variable filter,and the existing state and input constraints of the trajectory planner are considered.Finally,the experimental analysis is carried out through Matlab/Simulink simulation research and wheel loader test.The results show that the conversion time of the proposed rotation angle controller is shortened by 49%compared with that of the unconstrained controller,which has better real-time control performance.

关 键 词：液压系统 轴向柱塞马达 旋转角控制器 约束控制 

分 类 号：TH137[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]