基于二次调节的车辆轮桥加载系统的解耦控制策略研究
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摘要
基于二次调节的车辆轮桥模拟加载系统,通过对控制系统的分析可知,由于其转速控制系统和转矩控制系统间存在较强耦合作用,主要包括机械耦合和液压耦合,如果不对系统进行解耦,这些耦合干扰会使系统的控制精度明显降低,严重地影响着系统的控制性能。为了消除子系统间的耦合干扰,本文提出了两种解耦方法。方法一是在系统中加入解耦元件,通过求解解耦元件实现系统的解耦控制;方法二是在系统中加入鲁棒补偿器,通过鲁棒控制进行解耦。仿真结果表明:利用解耦元件的解耦控制对机械耦合具有很好的解耦效果,但对液压耦合不起作用;鲁棒解耦控制,对机械耦合和液压耦合都具有很好的解耦效果。
Focusing on the secondary regulation simulation loading system for the vehicle's wheels and transmission bridges,it is found that there is the strong coupling effects in its velocity control system and torque control system,mainly including hydraulic coupling and mechanical coupling.The system control accuracy is significantly reduced and the coupling interferences seriously affect the system performance.In order to eliminate the coupling interference between the subsystems,two methods were presented,one is to add a decoupling element and the decoupling control of the system is achieved by solving the decoupling element; The another is to add a robust control compensator and the decoupling control of the system is achieved by robust control.Simulation results show that good effect on the mechanical coupling is obtained by adding decoupling element,but there is no effect on the pressure interference,while the robust control can not only suppress the mechanical fluctuation,but also suppress the pressure fluctuation interference greatly.
Focusing on the secondary regulation simulation loading system for the vehicle's wheels and transmission bridges,it is found that there is the strong coupling effects in its velocity control system and torque control system,mainly including hydraulic coupling and mechanical coupling.The system control accuracy is significantly reduced and the coupling interferences seriously affect the system performance.In order to eliminate the coupling interference between the subsystems,two methods were presented,one is to add a decoupling element and the decoupling control of the system is achieved by solving the decoupling element; The another is to add a robust control compensator and the decoupling control of the system is achieved by robust control.Simulation results show that good effect on the mechanical coupling is obtained by adding decoupling element,but there is no effect on the pressure interference,while the robust control can not only suppress the mechanical fluctuation,but also suppress the pressure fluctuation interference greatly.
引文
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[7]Wu S,Okoye S C.Energy saving and utilization in secondary controlled hydraulic pressure forming of sheet metal[C]//The Seventh International Conference on Fluid Power Transmis,Hangzhou,2009
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[2]姜继海.二次调节压力耦联静液传动技术[M].北京:机械工业出版社,2012Jiang J H.The secondary regulation pressure coupling hydrostatic transmission technology[M].Beijing:Machinery Industry Press,2010(in Chinese)
[3]孙辉.二次调节静液传动车辆的关键技术及其优化研究[D].哈尔滨:哈尔滨工业大学,2009Sun H.Reserch and optimization on the keytechnologies of secondary regulation hydrostatic transmission vehicles[D].Harin:Harbin Institute of Technology,2009(in Chinese)
[4]易坤.二次调节加载系统耦合特性及解耦控制研究[D].秦皇岛:燕山大学,2009Yi K.Study on coupling characteristics of secondary regulated load system and decoupling control[D].Qinghuangdao:Yanshan University,2009(in Chinese)
[5]刘宇辉,姜继海.二次调节流量耦联静液传动系统性能[J].吉林大学学报,2008,(5):95-100Liu Y H,Jiang J H.Performance of static-hydraulic flow coupled system with secondary regulation[J].Journal of Bionic Engineering,2008,(5):98-100(in Chinese)
[6]桑保华,薛晓中.多变量解耦控制方法[J].火力与指挥控制,2007,(11):13-16Sang B H,Xue X Z.Multivariable decoupling control method[J].Fire Control and Command,2007,(11):13-16(in Chinese)
[7]Wu S,Okoye S C.Energy saving and utilization in secondary controlled hydraulic pressure forming of sheet metal[C]//The Seventh International Conference on Fluid Power Transmis,Hangzhou,2009
[8]邓雪云,曹力,史忠科.实时飞行再现转台的建模与解耦[J].机械科学与技术,2009,(6):721-725Deng Y X,Cao L,Shi Z K.Modeling and decoupling for a real-time flight replaying simulator[J].Mechanical Science and Technology for Aerospace Engineering,2009,(6):721-725(in Chinese)