自抗扰控制的单双泵控分布式挖掘机液压系统  

Single and Double Pump Controlled Distributed Hydraulic System of Excavator Using Active Disturbance Rejection Control

作　　者：张树忠[1] 刘意 李苏 张雪峰 ZHANG Shu-zhong;LIU Yi;LI Su;ZHANG Xue-feng(Fujian Key Laboratory of Intelligent Machining Technology and Equipment(Fujian University of Technology),Fuzhou,Fujian 350108;School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou,Fujian 350108)

机构地区：[1]福建工程学院福建省智能加工技术及装备重点实验室,福建福州350108 [2]福州大学机械工程及自动化学院,福建福州350108

出　　处：《液压与气动》2023年第5期42-50,共9页Chinese Hydraulics & Pneumatics

基　　金：福建省自然科学基金(2021J011051);福建省高校产学合作项目(2020H6025);福建省高校科技创新团队培育计划(闽教科〔2020〕12号);2022年省级科技创新重点项目(2022G02007)。

摘　　要：针对挖掘机工作装置差动缸中存在流量不平衡和多象限工况,提出一种单双泵控混合分布式液压系统,其中动臂为单泵控,斗杆和铲斗为双泵并联式泵控。以某微型挖掘机为对象,分别设计单泵、双泵并联式泵控单元及其自抗扰控制器。在MATLAB/Simulink中建立附加泵控单元的工作装置动力学模型、负载敏感阀控系统和所提出的泵控系统模型;在典型挖掘循环下进行阀控和泵控系统的仿真,分析系统速度-负载特性、跟踪性能及能耗。结果表明,双泵并联式泵控能有效抑制四象限工况导致的速度波动;所提出泵控系统与阀控系统相比,三个缸的均方根误差和最大误差平均值分别增加了2.5 mm和7.5 mm,但系统效率由21%提高到60%;所设计的ADRC与PID相比,系统效率基本相当,系统响应速度得到提高,实现与阀控系统相仿的跟踪性能。Aiming at the flow imbalance and multi-quadrant conditions in the differential cylinder of excavator,a single and double pump-controlled hybrid distributed hydraulic system is proposed,in which the boom is driven by a single pump-controlled unit,and the stick and bucket are actuated by a double pump in parallel controlled unit.Taking a micro excavator as a test case,the two types of pump-controlled units(single pump and double pump in parallel)and their active disturbance rejection controllers were designed respectively.The dynamics model of the working set equipped with three pump-controlled units,the load-sensing valve-controlled system model and the proposed pump-controlled system model were established in MATLAB/Simulink.The valve-controlled and pump-controlled systems were simulated under typical digging cycles,and the speed-load characteristics,tracking performance and energy consumption of the system were analyzed.The results show that the double pump in parallel unit can effectively suppress the velocity fluctuation caused by the four-quadrant operating condition.Compared with the valve-controlled system,the average root mean square error and the average maximum error of the three cylinders of the proposed pump-controlled system are increased by 2.5 mm and 7.5 mm respectively,but the system efficiency is boosted from 21%to 60%.The proposed system efficiency with the designed ADRC and PID is basically the same.However,with the designed ADRC,the response speed is effectively improved and the tracking performance is similar to that of the valve-controlled system.

关 键 词：双泵并联 分布式液压系统 速度-负载特性 自抗扰控制 负载敏感阀控系统 

分 类 号：TH137[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]