基于模糊自整定方法的液压马达驱动工作轴速度控制的研究  

Research on Speed Control of Working Shaft Driven by Hydraulic Motor Based on Fuzzy Self-Tuning Method

作　　者：王瑞玲[1] 张强 WANG Ruiling;ZHANG Qiang(School of Mechanical Engineering,Jilin Railway Technology College,Jilin Jilin 132000,China;School of Mechanical Engineering,Dalian University of Technology,Dalian Liaoning 116034,China)

机构地区：[1]吉林铁道职业技术学院机械工程学院,吉林吉林132000 [2]大连工业大学机械工程学院,辽宁大连116034

出　　处：《机床与液压》2022年第9期135-139,共5页Machine Tool & Hydraulics

基　　金：吉林省科技发展计划资助项目(20160204016GX)。

摘　　要：为提高液压马达驱动工作轴速度控制的有效性,提出一种用于液压马达驱动工作轴速度控制的模糊自整定方法。在分析液压马达驱动工作轴速度控制系统结构的基础上,对速度控制进行数学建模。利用工作轴的转角,建立工作轴的力矩方程;通过滑轮不同侧的皮带拉力,求取液压马达转子的力矩方程;采用马达转子的位移,计算流经液压马达的流量,进而得出速度控制系统的状态方程。以神经网络为基础,将系统的速度误差及误差的变化率作为神经网络的输入信号,设计神经网络隶属函数层模糊规则,求取隶属函数层节点的输出信号,进而实现对液压马达驱动工作轴速度的模糊自整定控制。利用所提方法和PID方法对目标速度进行追踪测试。结果表明:所提方法比PID方法的追踪准确度高9.12%,验证所提方法对液压马达驱动工作轴的速度控制的有效性。In order to improve the effectiveness of the speed control of the working shaft driven by hydraulic motor,a fuzzy self-tuning method for the speed control of the working shaft driven by hydraulic motor was proposed.Based on the analysis of the structure of the speed control system of the working shaft driven by the hydraulic motor,the mathematical model of the speed control was established.By using the angle of the working shaft,the torque equation of the working shaft was established;through the belt pulling force on different sides of the pulley,the torque equation of the hydraulic motor rotor was obtained;by using the displacement of the motor rotor,the flow through the hydraulic motor was calculated,and then the state equation of the speed control system was obtained.Based on neural network,the speed error and error change rate of the system were taken as the input signal of the neural network,the fuzzy rules of the membership function layer of the neural network were designed,the output signal of the node of the membership function layer was obtained,and then the fuzzy self-tuning control of the speed of the working shaft driven by the hydraulic motor was realized.The proposed method and PID method were used to track the target speed.The test results show that the tracking accuracy of the proposed method is 9.12%higher than that of PID method,and the proposed method is effective for the speed control of the working shaft driven by hydraulic motor.

关 键 词：液压马达 速度控制 神经网络 模糊自整定 隶属函数层 非线性控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH137.51[自动化与计算机技术—控制科学与工程]