农用机械液压缸电液比例位置同步自抗扰控制方法  

A Self Disturbance Rejection Control Method of Hydraulic Cylinders Position Synchronous Electro-hydraulic Proportional for Agricultural Machinery

作　　者：赵莹莹 杨铨[1] 李叶伟[1] ZHAO Ying-ying;YANG Quan;LI Ye-wei(College of Intelligent Manufacturing,Guangxi College of Industry and Technology,Nanning 530001,China)

机构地区：[1]广西工业职业技术学院智能制造学院,广西南宁530001

出　　处：《液压气动与密封》2025年第3期69-75,共7页Hydraulics Pneumatics & Seals

基　　金：广西壮族自治区科技计划项目(2021AB01008);广西壮族自治区教育厅广西职业教育教学改革研究项目(GXGZJG2021A008)。

摘　　要：农用机械液压缸在工作过程中,负载会随作业条件、农作物种类和生长状态等因素而发生变化,这些变化通常呈现非线性特性,对液压缸的工作压力、流量、活塞行程等参数造成干扰,难以保证液压缸运行的稳定性,影响了农业生产的进度,为此,提出研究农用机械液压缸电液比例位置同步自抗扰控制方法。通过有向图形式表征节点与支路,构建农用机械液压缸系统向量关联矩阵;基于液压缸动态推进特性,以流量变化为基准,考虑向量关联矩阵下非线性损失特性,确定液压缸电液比例位置平衡方程;应用自抗扰控制原理中估算函数,统一补偿非线性干扰因素造成的位移差,在符合电液比例位置平衡条件下实现液压缸电液比例位置同步控制。实验结果表明:以双液压缸结构为测试对象,可以在多个参量扰动下,完成两组结构的电液比例位置同步跟踪,实现对两者的位移控制,具有实际应用价值。During the operation of agricultural machinery hydraulic cylinders,the load varies due to factors such as working conditions,crop types,and growth states.These changes often exhibit nonlinear characteristics,causing interference in parameters such as the working pressure,flow rate,and piston stroke of the hydraulic cylinders,making it difficult to ensure stable operation and affecting the progress of agricultural production.To address this issue,this study explores an electro-hydraulic proportional position synchronization auto-disturbance rejection control method for agricultural machinery hydraulic cylinders.The system vector correlation matrix of agricultural machinery hydraulic cylinders was constructed by representing nodes and branches in a directed graph.Based on the dynamic propulsion characteristics of the hydraulic cylinders,the flow rate change was used as a benchmark,and the nonlinear loss characteristics under the vector correlation matrix were considered to determine the electro-hydraulic proportional position balance equation of the hydraulic cylinders.The estimation function in the auto-disturbance rejection control principle was applied to uniformly compensate for the displacement differences caused by nonlinear interference factors,achieving synchronous control of the electro-hydraulic proportional position of the hydraulic cylinders under the condition of satisfying the electro-hydraulic proportional position balance.Experimental results show that the proposed method,with a dual-hydraulic cylinder structure as the test object,can complete the electro-hydraulic proportional position synchronization tracking of the two structures under multiple parameter disturbances,realizing displacement control of both,demonstrating its application value.

关 键 词：农用机械化 液压缸 电液比例位置 位置同步 自抗扰控制 

分 类 号：TH137[机械工程—机械制造及自动化]