基于模型预测控制的静液压变速器转速控制研究  

Research on Speed Control of Hydrostatic Transmission Based on Model Predictive Control

作　　者：姚丽萍[1,2] 陈阳 戴卓辰 张军辉 李明生 谢守勇[1,2] YAO Liping;CHEN Yang;DAI Zhuochen;ZHANG Junhui;LI Mingsheng;XIE Shouyong(College of Engineering Technology,Southwest University,Chongqing 400715,China;Chongqing Key Laboratory of Agriculture Equipment for Hilly and Mountainous Regions,Chongqing 400715,China)

机构地区：[1]西南大学工程技术学院,重庆400715 [2]丘陵山区农业装备重庆市重点实验室,重庆400715

出　　处：《西南大学学报（自然科学版）》2024年第10期188-199,共12页Journal of Southwest University(Natural Science Edition)

基　　金：国家自然科学基金青年基金项目(52105276);重庆市技术创新与应用发展专项(cstc2021jscx-gksbX0002);中央高校基本科研业务费项目(XDJK2019B060)。

摘　　要：为提高静液压变速器(HST)控制系统的自适应性和鲁棒性,结合模型预测控制(MPC)与粒子群优化(PSO)算法对HST转速控制性能进行仿真和实验研究.首先,基于状态扩展空间方程建立HST的预测模型,引入PSO确定MPC的最佳超参数,获得综合性能指标最佳的模型预测控制器模型.然后,对HST进行阶跃响应与加减速控制仿真,同时搭建静液压传动实验平台对模型预测控制HST的可行性进行验证.结果表明:在阶跃响应和期望转速突变条件下,模型预测控制HST的输出转速均在较短时间内稳定在期望转速附近,且超调量最大不超过5%,具有较好的静态特性.期望转速突变时,MPC亦能快速准确地调控变量泵的排量,使马达转速迅速达到新的稳定状态,且调控过程的转速波动较小.所得实验结果与仿真结果一致,表明MPC在HST转速控制方面具有可行性.最后,针对更为复杂的工况(变化的输入功率、多变的期望转速以及突变的外部负载),采用仿真手段研究了MPC对HST的转速控制性能.结果表明:在复杂工况下,MPC亦能使HST具有较好的静动态特性,其转速波动得到有效降低,马达输出转速能稳定在期望值附近.In order to improve the adaptability and robustness of the hydrostatic transmission(HST)control system,for the first time,Model Predictive Control(MPC)and Particle Swarm Optimization(PSO)algorithm were combined in the present study to control the speed of HST by using the simulation and experiment methods.First,the prediction model of HST was established based on the expanded space state equation.The PSO was applied to determine the optimal hyperparameters of MPC,and the MPC controller model with the best comprehensive performance index was obtained.Then,the step response and acceleration/deceleration control on the HST were carried out by using the numerical simulation test.Meanwhile,the corresponding experimental platform was built to verify the feasibility of the above numerical method.The results indicate that by applying the MPC,the output speed of the HST can be stabilized near the target value in a short period of time,and the maximum overshoot did not exceed 5%,which made the HST have good static characteristics.When the expected speed suddenly changes,the MPC can quickly and accurately regulate the displacement of the variable pump,so that the motor speed can quickly reach a new stable state,and the speed fluctuation in the control process is small.The experimental results obtained in this study are consistent with the simulation results.The results indicate that it is feasible to control HST by using MPC.Finally,the performance of HST with MPC illustrate that the MPC also makes HST have better static and dynamic characteristics under complex working conditions(the variable input power,the variable expected speed and the sudden external load).Meanwhile its speed fluctuation is effectively reduced and the corresponding motor output speed of HST stabilizes around the expected value.

关 键 词：模型预测控制 粒子群优化算法 静液压变速器 转速控制 

分 类 号：S219.5[农业科学—农业机械化工程]