挖掘机液压混合动力系统跟踪控制研究  

Research on Tracking Control of Hydraulic Hybrid System of Excavator

作　　者：王金莉[1] 朱娟 WANG Jin-li;ZHU Juan(School of Electrical and Information,Changchun Guanghua University,Jilin Changchun 130000,China;School of Mechanical and Electrical Engineering,Changchun University of Technology,Jilin Changchun 130000,China)

机构地区：[1]长春光华学院电气信息学院,吉林长春130000 [2]长春工业大学机电工程学院,吉林长春130000

出　　处：《机械设计与制造》2024年第4期113-117,共5页Machinery Design & Manufacture

基　　金：吉林省发改委项目(2020C019-8);长春光华学院科研基金培育项目(QNJJ200002)。

摘　　要：由于挖掘机混合动力系统参数的不确定性和系统的非线性给挖掘机的跟踪控制带来了巨大的困难。对此,构建了挖掘机液压混合动力系统模型,并采用改进的自适应鲁棒控制(ARC)实现挖掘机液压混合动力系统的跟踪控制。根据挖掘机液压混合动力系统,对液压系统、挖掘机动力学和发动机进行数学建模。利用线性稳定反馈控制规律,采用改进的自适应鲁棒控制,使挖掘机液压混合动力系统具有足够大的反馈增益。最后对斗杆、动臂和铲斗的倾角进行跟踪仿真实验,给出了系统模型位置和速度的跟踪误差,并与PI控制进行比较分析。结果表明:相比于PI控制,ARC控制下的斗杆、动臂和铲斗倾角的最大振幅波动率和倾角的波动范围都有所降低,且回转位置和速度的跟踪误差超调较小。说明采用ARC控制的挖掘机混合动力系统控制方法,能够更好的补偿系统模型的非线性,具有较好的控制稳定性以及跟踪精度。Because of the uncertainty of parameters of hybrid power system and the nonlinearity of the system,the tracking con-trol of excavator is very difficult.The hydraulic hybrid power system model of excavator is built,and the improved adaptive robust control(ARC)is adopted to realize the tracking control of the hydraulic hybrid power system of excavator.According to the hy-draulic hybrid system of excavator,the mathematical modeling of hydraulic system,excavator dynamics and engine is carried out.By using the linear stable feedback control law and adopting the improved adaptive robust control,the hydraulic hybrid power system of excavator has enough feedback gain.In the end,the tracking simulation experiment of the dip Angle of the bucket lever,moving arm and bucket is carried out,the tracking error of the system model position and velocity is given,and compared with PI control.The results show that,compared with PI control,the maximum amplitude fluctuation rate and fluctuation range of dip Angle of bucket bar,moving arm and bucket under ARC control are reduced,and the tracking error overshoot of rotation position and speed is smaller.It shows that the ARC control method of excavator hybrid power system can better compensate the nonlinearity of the system model,and has better control stability and tracking precision.

关 键 词：挖掘机 液压混合动力系统 ARC控制 控制稳定性 跟踪精度 

分 类 号：TH16[机械工程—机械制造及自动化]