基于2自由度μ综合控制器的液压挖掘机运动控制研究  

Research on rotary motion control of hydraulic excavator based on two degree of freedom μ-synthesis controller

作　　者：李云峰 魏培鲜 LI Yunfeng;WEI Peixian(Department of Construction Machinery,Shanxi Vocational and Technical College of Communications,Taiyuan 030600,Shanxi,China;School of Automotive Engineering,Yellow River Traffic Institute,Wuzhi 454950,Henan,China)

机构地区：[1]山西交通职业技术学院工程机械系,山西太原030600 [2]黄河交通学院汽车工程学院,河南武陟454950

出　　处：《中国工程机械学报》2021年第5期447-452,共6页Chinese Journal of Construction Machinery

基　　金：河南省科技厅资助项目(9412019Y0499)。

摘　　要：由于液压挖掘机回转过程中受到不确定性结构的巨大扰动,给控制带来了巨大的挑战。对此,构建了2自由度μ综合控制的液压挖掘机回转运动控制系统,实现对液压挖掘机的鲁棒性控制。对挖掘机回转系统结构进行分析,并对液压伺服控制系统进行建模。利用PD控制和死区补偿共同构成内环控制系统,考虑系统的不确定结构扰动,采用2自由度μ综合控制法设计鲁棒控制器作为系统模式不确定参数的补充,并对该控制器进行阶跃信号、扰动性能和跟踪信号实验。结果显示:相比于PD控制器,2自由度μ综合控制器的校准时间缩小了57%,稳态调整时间减少了10 s,抗干扰能力增强,运动轨迹跟踪误差减小,稳定性得到提高。说明采用2自由度μ综合控制的液压挖掘机鲁棒控制方法,能够提高对液压挖掘机回转运动的控制性能。Due to the huge disturbance of the uncertain structure in the process of hydraulic excavator rotation,the control of hydraulic excavator is a great challenge. In this paper,a rotary motion control system of hydraulic excavator with two degrees of freedom comprehensive control is constructed to realize the robust control of hydraulic excavator. The structure of excavator rotary system is analyzed and the hydraulic servo control system is modeled. The inner loop control system is composed of PD control and dead zone compensation. Considering the disturbance of the uncertain structure of the system,the robust controller is designed by using the two-degree-of-freedom μ-synthesis control method as a supplement to the uncertain parameters of the system model,and the step signal,disturbance performance and tracking signal experiments are carried out on the controller. The results show that:compared with PD controller,the calibration time of the twodegree-of-freedom μ-synthesis controller is reduced by 57%,the steady-state adjustment time is reduced by 10 s,the motion trajectory tracking error is reduced,and the stability is improved. It shows that the robust control method of hydraulic excavator with two degrees of freedom μ-synthesis controller can improve the control performance of rotary motion of hydraulic excavator.

关 键 词：液压挖掘机 Μ综合控制 鲁棒性 自由度 

分 类 号：TH137[机械工程—机械制造及自动化]