基于改进史密斯预估控制的电液转向时滞补偿研究  

Research on Time-delay Compensation of Electro-hydraulic Steering Based on Improved Smith Predictor Control

作　　者：苗河泉 刁培松[1] 徐广飞 宋志才 姚文燕 魏懋健 王文君 Miao Hequan;Diao Peisong;Xu Guangfei;Song Zhicai;Yao WenyanWei Maojian;Wang Wenjun(College of Agricultural Engineering and Food Science,Shandong University of Technology,Zibo 255000,China)

机构地区：[1]山东理工大学农业工程与食品科学学院,山东淄博255000

出　　处：《农机化研究》2023年第7期232-237,共6页Journal of Agricultural Mechanization Research

基　　金：山东省农业重大应用技术创新项目(SD2019NJ005)。

摘　　要：针对拖拉机自动转向系统的时滞、外部干扰、复杂特性,基于改进史密斯预估控制对自动转向系统控制进行了设计。为增强转向控制系统的抗干扰能力和提高转向系统的跟踪性能,在转向控制方案中基于内模控制理论设计了扰动抑制控制器和跟踪控制器,两个控制器的控制参数可以单独进行调整,大大提高了自动液压转向控制系统的操作灵活性。仿真试验结果表明:与标准史密斯预估控制相比,改进的史密斯预估转向控制能较快地对参考信号进行跟踪,并能在外部干扰输入的情况下保持良好的抗干扰性和鲁棒稳定性。In view of the time delay,external disturbance and complex characteristics of tractor automatic steering system,the control of automatic steering system was designed based on improved Smith predictive control.To enhance the anti-interference ability of the steering control system and improve the tracking performance of the steering system in steering control scheme based on internal model control theory disturbances rejection controller and tracking controller was designed,the control parameters of the two controllers can be adjusted separately,greatly improving the automatic control system of hydraulic steering operation flexibility.The simulation results show that compared with the standard Smith predictive steering control,the improved Smith predictive steering control can track the reference signal faster and maintain good anti-interference and robust stability in the case of external interference input.

关 键 词：拖拉机 自动转向控制 改进史密斯预估控制 内模控制 比例换向阀 动力学建模 

分 类 号：S219.032.3[农业科学—农业机械化工程] TP273[农业科学—农业工程]