钢轨打磨车专用EHA非线性反演控制  

Nonlinear backstepping control of special EHA for rail grinding vehicles

作　　者：王海波[1,2] 何欢 邹怀静 聂勇 WANG Haibo;HE Huan;ZOU Huaijing;NIE Yong(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China;Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of Sichuan Province,Chengdu 610031,China;State Key Laboratory of Fluid Power Transmission and Control,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]西南交通大学机械工程学院,成都610031 [2]轨道交通运维技术与装备四川省重点实验室,成都610031 [3]浙江大学流体传动及控制国家重点实验室,杭州310027

出　　处：《北京航空航天大学学报》2024年第8期2439-2448,共10页Journal of Beijing University of Aeronautics and Astronautics

基　　金：四川省科技厅计划应用基础研究项目(2021YJ0029);西南交通大学轨道交通运维技术与装备四川省重点实验室开放课题(2020YW001)。

摘　　要：为提高钢轨打磨车打磨钢轨的平顺性及稳定性,提出以电动静液作动器(EHA)代替传统液压作动系统作为钢轨打磨车的专用执行器,考虑柱塞泵的总效率波动和液压缸动静摩擦差异大2个非线性因素,建立非线性数学模型;建立EHA的MATLAB、AMESim联合仿真模型,对PID控制、滑模变结构控制、反演控制进行控制策略对比研究,仿真分析验证反演控制在响应快速性及稳定性方面具有良好的表现。搭建四象限平台对EHA进行反演控制负载试验,结果表明:其位移控制精度达0.21 mm,具有较好的控制性能。In order to improve the smoothness and stability of rail grinding by the rail grinding vehicle,an electric hydrostatic actuator(EHA)was proposed to replace the traditional hydraulic system as the special actuator of the rail grinding vehicle.By considering the nonlinear factors including the total efficiency fluctuation of the plunger pump and the large difference between the dynamic and static friction of the hydraulic cylinder,a nonlinear mathematical model was established.The MATLAB and AMESim joint simulation model of EHA was established,and the control strategies of PID control,sliding mode variable structure control,and backstepping control were compared.The simulation analysis verified that the backstepping control had good performance in response speed and stability.The four quadrant platform was built to carry out the backstepping control load test of EHA.The results show that its displacement control accuracy reaches 0.21 mm,indicating good control performance.

关 键 词：钢轨打磨车 电动静液作动器 非线性因素 联合仿真 反演控制 

分 类 号：U216[交通运输工程—道路与铁道工程] TH137[机械工程—机械制造及自动化]