汽车起重机泵阀复合系统高性能控制研究  

Research on High Performance Control of Truck Crane Pump and Valve Compound System

作　　者：和进军 贾鹏硕 唐琛淇 李凯 谢帅 艾超[2] He Jinjun;Jia Pengshuo;Tang Chenqi;Li Kai;Xie Shuai;Ai Chao(SANY Automobile Hoisting Machinery Co.,Ltd.,Changsha 410600,China;School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China)

机构地区：[1]三一汽车起重机械有限公司,长沙410600 [2]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《机电工程技术》2022年第7期125-129,216,共6页Mechanical & Electrical Engineering Technology

基　　金：河北省高等学校科学技术研究重点项目(编号:ZD2021340);河北省高等学校科学技术研究重点项目(编号:ZD2020166)。

摘　　要：汽车起重机泵阀复合控制系统是通过永磁同步电机和比例阀的协同控制实现变幅伸缩机构的基本动作,有效改善了传统负载敏感系统功率损耗大的问题,提高了能量利用率。但泵阀复合控制系统存在永磁同步电机转速波动、液压泵流量非线性等因素,影响系统的动态响应和运动稳定性。基于此,首先搭建了永磁同步电机和液压泵的数学模型,得到影响电机转速和液压泵流量的参数;其次设计了一种模糊PID线性复合控制器,结合传统PID和模糊控制的优势,控制精度高,动态性能好;最后搭建传统PID和模糊PID的Simulink仿真模型,对系统在60 L/min、120 L/min和180 L/min阶跃流量信号下进行仿真分析,结果表明:模糊-PID相较于传统PID动态响应时间缩短0.5~1 s,流量稳态精度提高50%,验证了所提出复合控制器的有效性。The pump-valve compound control system of truck crane realizes the basic action of luffing and telescopic mechanism through the cooperative control of permanent magnet synchronous motor and proportional valve.Compared with the traditional load-sensing system,the power loss was reduced and the energy utilization rate was improved.However,the dynamic response and motion stability of the pump-valve composite control system were affected by some factors such as speed fluctuation of permanent magnet synchronous motor and nonlinear flow rate of hydraulic pump.The mathematical model of permanent magnet synchronous motor and hydraulic pump was firstly established in the study,and the parameters affecting motor speed and hydraulic pump flow were obtained.Secondly,a fuzzyPID linear compound controller was designed,which combined the advantages of traditional PID and fuzzy control to achieve high control precision and good dynamic performance.Finally,the traditional PID and fuzzyPID Simulink simulation models were built,and the simulation analysis of the system was carried out under the step flow signals of 60 L/min,120 L/min and 180 L/min.The results show that compared with the traditional PID,the dynamic response time of fuzzyPID is shortened by 0.5~1 s,and the steady-state flow accuracy is increased by 50%,which verifies the effectiveness of the proposed composite controller.

关 键 词：汽车起重机 泵阀复合系统 高性能控制 模糊PID 动态响应 稳态精度 

分 类 号：TH137[机械工程—机械制造及自动化]