液压机械传动装置泵-马达系统模糊自抗扰控制  

Fuzzy active disturbance rejection control for pump-motor system of hydraulic mechanical continuously variable transmission

作　　者：张付奇 曹付义 江可可 徐立友 ZHANG Fuqi;CAO Fuyi;JIANG Keke;XU Liyou(School of Vehicle and Traffic Engineering,Henan University of Science and Technology,Luoyang 471003,China)

机构地区：[1]河南科技大学车辆与交通工程学院,洛阳471003

出　　处：《现代制造工程》2022年第1期154-160,共7页Modern Manufacturing Engineering

基　　金：十三五国家重点研发计划项目(2016YFD0701002-2);河南省重点科技攻关计划项目(172102210252)。

摘　　要：针对液压机械传动装置(Hydraulic Mechanical Continuously Variable Transmission,HMCVT)在阶跃负载扰动、变速器输入转速扰动的影响下所引起的输出转速波动问题,以分矩汇速式液压机械传动装置中的泵-马达系统为研究对象,以系统稳速输出为控制目标,提出一种基于扰动补偿的模糊自抗扰控制(Active Disturbance Rejection Control,ADRC)方法。该方法采用模糊控制理论对自抗扰控制中的非线性误差反馈系数进行在线整定,利用扩张状态观测器(Extended State Observer,ESO)对系统总扰动进行实时观测,并通过前馈控制调节电-液比例阀阀芯位移来补偿变量泵斜盘摆角,最终实现HMCVT稳速控制。仿真结果表明,相比于传统PID控制,采用模糊自抗扰控制的液压机械传动装置在外负载和输入转速突变时,变量泵斜盘抖振幅度更小,系统稳速输出响应时间更短,抗扰动能力更强。Aiming at the problem of output speed fluctuation caused by step load disturbance and transmission input speed disturbance of Hydraulic Mechanical Continuously Variable Transmission(HMCVT),a fuzzy Active Disturbance Rejection Control(ADRC)method based on disturbance compensation was proposed.The pump-motor system of shunt torque confluence speed HMCVT was taken as the research object and the steady speed output of the system was taken as the control objective.The fuzzy control theory was used to tune the nonlinear error feedback coefficient of ADRC in the method proposed,the Extended State Observer(ESO)was used to observe the total disturbance of the system in real time,and the spool displacement of the electro-hydraulic proportional valve was adjusted by the feedforward control to compensate the swash plate swing angle of the variable displacement pump,finally,the speed control of HMCVT was realized.The simulation results showed that compared with the traditional PID controller,the swash plate chattering amplitude of HMCVT controlled by fuzzy ADRC is smaller when the external load and input speed change suddenly,the steady speed output response time is shorter,and the anti-interference ability is stronger.

关 键 词：液压机械传动装置 斜盘摆角 稳速控制 前馈补偿 模糊自抗扰 

分 类 号：TH137[机械工程—机械制造及自动化]