液压机械复合传动阶跃输入恒转速输出双前馈模糊PID控制
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摘要
针对液压机械复合传动系统在阶跃转速输入时输出转速稳定性差、不易控制等问题,该文提出了一种基于液压子系统、机械子系统和液压机械复合传动系统的输入双前馈+模糊PID转速复合控制方法,以系统输出转速恒定为控制目标,将2个子系统转速扰动量折算到变量马达转速变化量,通过排量补偿调节实现对系统输出转速波动控制,最终实现输出转速恒定控制。仿真与试验结果表明:在系统不同初始输入转速基础上,施加特定的阶跃转速扰动,该控制方法具有良好的控制精度和鲁棒性,相比于传统PID控制方法,系统输出转速最大超调量平均降低39.8%,稳定调整时间平均缩短35.53%,系统输出转速平均稳态误差控制在±0.7%之间。该文所提出的双前馈+模糊PID转速复合控制方法,对液压机械复合传动系统阶跃输入扰动引起的输出波动具有抑制作用,控制效果明显,增强系统在非线性输入复杂工况下转速输出的稳定性,可为液压机械复合传动系统在农业机械领域的设计和应用提供参考。
Hydro-mechanical compound transmission has the advantages of good hydraulic stepless speed regulation performance and high efficiency of mechanical transmission, which can achieve the optimal matching of transmission system load and power source, and has been widely used in agricultural vehicles, engineering machinery and military vehicles. Domestic and foreign scholars have studied the speed control method of pump-motor pure hydraulic transmission system, the application and basic characteristics of hydro-mechanical compound transmission system, but the research on the control method of variable speed input-constant speed output of hydro-mechanical compound transmission system is relatively little. In this paper, a double feedforward and fuzzy PID speed control method based on hydraulic subsystem, mechanical subsystem hydro-mechanical compound transmission system was proposed. The speed compound control method was used to solve the problems that the output speed of hydro-mechanical compound transmission system was poor at the variable speed input and was difficult to control. According to the requirements of the output speed stability control of hydro-mechanical compound transmission system, the displacement compensation amount Δγ of the variable motor was calculated by the sum of the feedforward compensation amounts of the mechanical subsystem and the hydraulic subsystem: the feedforward compensation amounts was converted by the planetary gear of the mechanical subsystem planetary speed coupling device to the variable speed compensation amount Δnm?S of the variable motor through the planet carrier, and the corresponding compensation amount of the swash plate angle Δγm?S, the feedforward compensation amounts of the hydraulic subsystem was the variable caused by the hydraulic subsystem quantitative pump speed disturbance. The variable motor speed compensation amount Δnm?p was corresponding to the displacement angle compensation amount Δγm?p. Under different speed compensation paths, the stability of the system output speed was adjusted by the displacement adjustment of the variable motor. The simulation of the dual feedforward and fuzzy PID speed control method was carried out by AMEsim and MATLAB software, and hydro-mechanical compound transmission system test bench was built. The initial PID parameters, kp = 1.0, ki =0.1 and kd =0, of the system PID were determined through the simulation and experiments, the system input speed was maintained at 1 000 r/min by adjusting the initial swing angle of the variable motor displacement at the initial input speed of the system of 500, 600 and 700 r/min. Applying step signals of 500→530, 600→630 and 700→730 r/min to initial input speed respectivly, and traditional PID speed control method and double feedforward and fuzzy PID speed control method were used to control the system output speed, the results showed that compared with the traditional PID speed control method, the system output speed stability and adjustment speed of the double feedforward and fuzzy PID speed control method were greatly improved, and the average amount was reduced by 39.8%, the stable adjustment time was shortened by an average of 35.53%, and the average steady-state error of the system output speed was between ±0.7%, and the variable motor displacement compensation and output speed fluctuation amplitude were greatly reduced, the maximum compensation amount was also slightly increased, and the sensitivity of the system control was obtained, meeting the requirements for output speed stability control. The double feedforward and fuzzy PID speed control method proposed in this paper had the effect of suppressing the output fluctuation caused by the input disturbance of hydro-mechanical compound transmission system, the control effect was obvious, and the applicability under the complicated working conditions was enhanced. Hydro-mechanical compound transmission system provides a reference for the design and application of agricultural machinery.
Hydro-mechanical compound transmission has the advantages of good hydraulic stepless speed regulation performance and high efficiency of mechanical transmission, which can achieve the optimal matching of transmission system load and power source, and has been widely used in agricultural vehicles, engineering machinery and military vehicles. Domestic and foreign scholars have studied the speed control method of pump-motor pure hydraulic transmission system, the application and basic characteristics of hydro-mechanical compound transmission system, but the research on the control method of variable speed input-constant speed output of hydro-mechanical compound transmission system is relatively little. In this paper, a double feedforward and fuzzy PID speed control method based on hydraulic subsystem, mechanical subsystem hydro-mechanical compound transmission system was proposed. The speed compound control method was used to solve the problems that the output speed of hydro-mechanical compound transmission system was poor at the variable speed input and was difficult to control. According to the requirements of the output speed stability control of hydro-mechanical compound transmission system, the displacement compensation amount Δγ of the variable motor was calculated by the sum of the feedforward compensation amounts of the mechanical subsystem and the hydraulic subsystem: the feedforward compensation amounts was converted by the planetary gear of the mechanical subsystem planetary speed coupling device to the variable speed compensation amount Δnm?S of the variable motor through the planet carrier, and the corresponding compensation amount of the swash plate angle Δγm?S, the feedforward compensation amounts of the hydraulic subsystem was the variable caused by the hydraulic subsystem quantitative pump speed disturbance. The variable motor speed compensation amount Δnm?p was corresponding to the displacement angle compensation amount Δγm?p. Under different speed compensation paths, the stability of the system output speed was adjusted by the displacement adjustment of the variable motor. The simulation of the dual feedforward and fuzzy PID speed control method was carried out by AMEsim and MATLAB software, and hydro-mechanical compound transmission system test bench was built. The initial PID parameters, kp = 1.0, ki =0.1 and kd =0, of the system PID were determined through the simulation and experiments, the system input speed was maintained at 1 000 r/min by adjusting the initial swing angle of the variable motor displacement at the initial input speed of the system of 500, 600 and 700 r/min. Applying step signals of 500→530, 600→630 and 700→730 r/min to initial input speed respectivly, and traditional PID speed control method and double feedforward and fuzzy PID speed control method were used to control the system output speed, the results showed that compared with the traditional PID speed control method, the system output speed stability and adjustment speed of the double feedforward and fuzzy PID speed control method were greatly improved, and the average amount was reduced by 39.8%, the stable adjustment time was shortened by an average of 35.53%, and the average steady-state error of the system output speed was between ±0.7%, and the variable motor displacement compensation and output speed fluctuation amplitude were greatly reduced, the maximum compensation amount was also slightly increased, and the sensitivity of the system control was obtained, meeting the requirements for output speed stability control. The double feedforward and fuzzy PID speed control method proposed in this paper had the effect of suppressing the output fluctuation caused by the input disturbance of hydro-mechanical compound transmission system, the control effect was obvious, and the applicability under the complicated working conditions was enhanced. Hydro-mechanical compound transmission system provides a reference for the design and application of agricultural machinery.
引文
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[9]Kong Xiangdong,Song Yu,Ai Chao.Constant speed control method of variable speed input fixed displacement pump-constant speed output variable motor system[J].Journal of Mechanical Engineering,2016,52(8):179-190.
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[15]王岩.变量泵控制变量马达系统建模及控制[J].控制理论与应用,2012,29(1):41-46.Wang Yan.Modeling and control of variable pump control variable motor system[J].Control Theory and Applications,2012,29(1):41-46.(in Chinese with English abstract)
[16]郑琦,李运华,杨丽曼.泵控并联变量马达速度系统复合控制策略[J].北京航空航天大学学报,2012,38(5):692-696.Zheng Qi,Li Yunhua,Yang Liman.Composite control strategy for pump-controlled parallel variable motor speed system[J].Journal of Beijing University of Aeronautics and Astronautics,2012,38(5):692-696.(in Chinese with English abstract)
[17]陈丽缓,韩伟娜,吕玉梅,等.基于LQ的变转速泵控马达系统转速控制研究[J].机床与液压,2017,45(7):20-22.Chen Lihuan,Han Weina,LüYumei,et al.Research on speed control of variable speed pump control motor system based on LQ[J].Machine Tool&Hydraulics,2017,45(7):20-22.(in Chinese with English abstract)
[18]李和言,陈宝瑞,马彪,等.高速履带车辆静液传动模糊自适应PID同步控制[J].农业机械学报,2010,41(3):16-19.Li Heyan,Chen Baorui,Ma Biao,et al.Fuzzy adaptive PIDsynchronization control for hydrostatic transmission of high speed tracked vehicles[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(3):16-19.(in Chinese with English abstract)
[19]涂乐,李伟,林勇刚,等.功率分流在混合传动型风力发电机上的应用及仿真分析[J].太阳能学报,2017,38(3):640-647.Tu Le,Li Wei,Lin Yonggang,et al.Application and simulation analysis of power splitting on hybrid transmission wind turbines[J].Journal of Solar Energy,2017,38(3):640-647.(in Chinese with English abstract)
[20]王光明,朱思洪,王胜红,等.拖拉机液压机械无级变速器的速比控制[J].农业工程学报,2013,29(7):17-23.Wang Guangming,Zhu Sihong,Wang Shenghong,et al.Speed ratio control of tractor hydraulic mechanical continuously variable transmission[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(7):17-23.(in Chinese with English abstract)
[21]闻德生,甄新帅,陈帆,等.变频电机-多输出泵调速回路速度特性分析[J].西安交通大学学报,2016,50(10):99-103.Wen Desheng,Yan Xinshuai,Chen Fan,et al.Analysis of speed characteristics of variable frequency motor-multiple output pump speed control loop[J].Journal of Xi'an Jiaotong University,2016,50(10):99-103.(in Chinese with English abstract)
[22]苑士华,魏超,张银彩.液压机械无级变速器动态特性的影响因素研究[J].农业工程学报,2008,24(2):33-38.Yuan Shihua,Wei Chao,Zhang Yincai.Research on the influencing factors of dynamic characteristics of hydraulic mechanical continuously variable transmission[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2008,24(2):33-38.(in Chinese with English abstract)
[23]Macor A,Rossetti A.Optimization of hydro-mechanical power split transmissions[J].Mechanism&Machine Theory,2011,46(12):1901-1919.
[24]魏超,苑士华,胡纪滨,等.等差式液压机械无级变速器的速比控制理论与试验研究[J].机械工程学报,2011,47(16):101-105.Wei Chao,Yuan Shihua,Hu Jibin,et al.Theoretical and experimental study on ratio control of differential hydraulic mechanical continuously variable transmission[J].Journal of Mechanical Engineering,2011,47(16):101-105.(in Chinese with English abstract)
[25]闻德生,柴伟超,王京,等.采用双定子泵的多级恒功率调速系统回路特性分析与试验[J].农业工程学报,2016,32(22):107-112.Wen Desheng,Chai Weichao,Wang Jing,et al.Loop characteristics analysis and experiment of multi-stage constant power speed control system with double stator pump[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2016,32(22):107-112.(in Chinese with English abstract)
[2]Rossetti A,Macor A,Scamperle M.Optimization of components and layouts of hydro-mechanical transmissions[J].International Journal of Fluid Power,2017,18(6):1-12.
[3]张明柱,周志立,徐立友,等.农业拖拉机用多段液压机械无级变速器设计[J].农业工程学报,2003,19(6):118-121.Zhang Mingzhu,Zhou Zhili,Xu Liyou,et al.Design of multi-stage hydro-mechanical continuously variable transmission for agricultural tractors[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2003,19(6):118-121.(in Chinese with English abstract)
[4]Hu Jibin,Wei Chao,Yuan Shihua,et al.Characteristics on hydro-mechanical transmission in power shift process[J].Chinese Journal of Mechanical Engineering,2009,22(1):50-56.
[5]Vaezi M,Izadian A.Experimental control of a hydraulic wind power transfer system under wind and load disturbances[C/OL]//Energy Conversion Congress and Exposition.IEEE,2017-02-16:DOI:10.1109/ECCE.2016.7855095.
[6]艾超,闫桂山,孔祥东,等.液压型风力发电机组恒转速输出补偿控制[J].中国机械工程,2015,26(9):1189-1193.Ai Chao,Yan Guishan,Kong Xiangdong,et al.Constantspeed output compensation control for hydraulic wind turbines[J].China Mechanical Engineering,2015,26(9):1189-1193.(in Chinese with English abstract)
[7]胡东明,徐兵,杨华勇.变频驱动的闭式回路节能型液压升降系统[J].浙江大学学报:工学版,2008,42(2):209-214.Hu Dongming,Xu Bing,Yang Huayong.Variable frequency driven closed-loop energy-saving hydraulic lifting system[J].Journal of Zhejiang University:Engineering Science,2008,42(2):209-214.(in Chinese with English abstract)
[8]沈国泉,王建嵘.基于负流量反馈变量泵的移动液压发电系统设计与试验[J].液压与气动,2015(11):87-89.Shen Guoquan,Wang Jianrong.Design and experiment of mobile hydraulic power generation system based on negative flow feedback variable pump[J].Hydraulic&Pneumatic Engineering,2015(11):87-89.(in Chinese with English abstract)
[9]Kong Xiangdong,Song Yu,Ai Chao.Constant speed control method of variable speed input fixed displacement pump-constant speed output variable motor system[J].Journal of Mechanical Engineering,2016,52(8):179-190.
[10]彭天好,乐南更.变转速泵控马达系统转速降落补偿试验研究[J].机械工程学报,2012,48(4):175-181.Peng Tianhao,Le Nangeng.Experimental study on compensation of rotational drop of variable speed pump controlled motor system[J].Journal of Mechanical Engineering,2012,48(4):175-181.(in Chinese with English abstract)
[11]马玉,谷立臣.变转速液压动力源的输入前馈-反馈复合补偿控制[J].长安大学学报:自然科学版,2017,37(5):120-126.Ma Yu,Gu Lichen.Input feedforward-feedback compound compensation control for variable speed hydraulic power sources[J].Journal of Chang an University:Natural Science Edition,2017,37(5):120-126.(in Chinese with English abstract)
[12]柴小波,艾超,闫桂山.变转速泵控马达调速系统前馈补偿控制研究[J].机电工程,2016,33(6):718-721.Chai Xiaobo,Ai Chao,Yan Guishan.Research on feedforward compensation control of variable speed pump control motor speed control system[J].Mechanical Engineering,2016,33(6):718-721.(in Chinese with English abstract)
[13]Long Ming,Hu Aimin,Gao Zhigang,et al.Velocity and load characteristics analysis of pump-control-motor hydraulic drive system[J].Advanced Materials Research,2010,139-141:947-951.
[14]李昊,杨玉强.车载液压发电机行车工况发电稳速控制[J].中国机械工程,2017,28(8):979-982.Li Hao,Yang Yuqiang.Steady speed control of vehicle hydraulic generator driving condition[J].China Mechanical Engineering,2017,28(8):979-982.(in Chinese with English abstract)
[15]王岩.变量泵控制变量马达系统建模及控制[J].控制理论与应用,2012,29(1):41-46.Wang Yan.Modeling and control of variable pump control variable motor system[J].Control Theory and Applications,2012,29(1):41-46.(in Chinese with English abstract)
[16]郑琦,李运华,杨丽曼.泵控并联变量马达速度系统复合控制策略[J].北京航空航天大学学报,2012,38(5):692-696.Zheng Qi,Li Yunhua,Yang Liman.Composite control strategy for pump-controlled parallel variable motor speed system[J].Journal of Beijing University of Aeronautics and Astronautics,2012,38(5):692-696.(in Chinese with English abstract)
[17]陈丽缓,韩伟娜,吕玉梅,等.基于LQ的变转速泵控马达系统转速控制研究[J].机床与液压,2017,45(7):20-22.Chen Lihuan,Han Weina,LüYumei,et al.Research on speed control of variable speed pump control motor system based on LQ[J].Machine Tool&Hydraulics,2017,45(7):20-22.(in Chinese with English abstract)
[18]李和言,陈宝瑞,马彪,等.高速履带车辆静液传动模糊自适应PID同步控制[J].农业机械学报,2010,41(3):16-19.Li Heyan,Chen Baorui,Ma Biao,et al.Fuzzy adaptive PIDsynchronization control for hydrostatic transmission of high speed tracked vehicles[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(3):16-19.(in Chinese with English abstract)
[19]涂乐,李伟,林勇刚,等.功率分流在混合传动型风力发电机上的应用及仿真分析[J].太阳能学报,2017,38(3):640-647.Tu Le,Li Wei,Lin Yonggang,et al.Application and simulation analysis of power splitting on hybrid transmission wind turbines[J].Journal of Solar Energy,2017,38(3):640-647.(in Chinese with English abstract)
[20]王光明,朱思洪,王胜红,等.拖拉机液压机械无级变速器的速比控制[J].农业工程学报,2013,29(7):17-23.Wang Guangming,Zhu Sihong,Wang Shenghong,et al.Speed ratio control of tractor hydraulic mechanical continuously variable transmission[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2013,29(7):17-23.(in Chinese with English abstract)
[21]闻德生,甄新帅,陈帆,等.变频电机-多输出泵调速回路速度特性分析[J].西安交通大学学报,2016,50(10):99-103.Wen Desheng,Yan Xinshuai,Chen Fan,et al.Analysis of speed characteristics of variable frequency motor-multiple output pump speed control loop[J].Journal of Xi'an Jiaotong University,2016,50(10):99-103.(in Chinese with English abstract)
[22]苑士华,魏超,张银彩.液压机械无级变速器动态特性的影响因素研究[J].农业工程学报,2008,24(2):33-38.Yuan Shihua,Wei Chao,Zhang Yincai.Research on the influencing factors of dynamic characteristics of hydraulic mechanical continuously variable transmission[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2008,24(2):33-38.(in Chinese with English abstract)
[23]Macor A,Rossetti A.Optimization of hydro-mechanical power split transmissions[J].Mechanism&Machine Theory,2011,46(12):1901-1919.
[24]魏超,苑士华,胡纪滨,等.等差式液压机械无级变速器的速比控制理论与试验研究[J].机械工程学报,2011,47(16):101-105.Wei Chao,Yuan Shihua,Hu Jibin,et al.Theoretical and experimental study on ratio control of differential hydraulic mechanical continuously variable transmission[J].Journal of Mechanical Engineering,2011,47(16):101-105.(in Chinese with English abstract)
[25]闻德生,柴伟超,王京,等.采用双定子泵的多级恒功率调速系统回路特性分析与试验[J].农业工程学报,2016,32(22):107-112.Wen Desheng,Chai Weichao,Wang Jing,et al.Loop characteristics analysis and experiment of multi-stage constant power speed control system with double stator pump[J].Transactions of the Chinese Society of Agricultural Engineering(Transactions of the CSAE),2016,32(22):107-112.(in Chinese with English abstract)