泵控马达闭式回路调速控制系统特性研究
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摘要
随着工程机械朝着大型化、重型化的方向发展及使用工况的日趋复杂化,对行走驱动系统的要求也越来越高,采用泵控马达闭式回路作为工程机械行走驱动系统已成为一种趋势。国外相关的技术研究已经很成熟且得到广泛应用,但国内在这方面的研究仍比较落后,与国际水平存在一定差距。因此对工程机械行走驱动泵控马达闭式回路系统及关键液压元件开展研究将有重大意义。
本论文以工程机械行走驱动泵控马达闭式回路调速系统为研究对象,运用力平衡方程和流量连续性方程建立系统的静态数学模型;在仿真软件中建立相应的动态仿真模型,且对影响系统动态性能的因素进行了仿真分析;针对上述因素设计了常规PID和基于干扰观测器的自整定模糊PID控制器并进行仿真计算,仿真结果表明后者控制效果优于前者;在理论分析基础上,研制了泵控马达闭式回路综合试验台,对影响系统动态性能的因素进行了试验,测试结果与仿真计算结果在趋势上基本吻合,最后对系统中的变量泵进行了动静态性能测试研究。
本论文主要包括以下几个方面的内容:
(1)简要论述了泵控马达闭式回路调速系统,介绍了工程机械行走驱动泵控马达闭式回路调速系统的研究现状和发展趋势,然后提出了课题的研究意义、研究方法及主要研究内容。
(2)对泵控马达闭式回路调速系统进行数学建模,得到系统的传递函数;设计了常规PID和基于干扰观测器的自整定模糊PID控制器。
(3)在AMESim仿真软件中建立泵控马达闭式回路调速系统的计算模型,且对影响系统动态性能的因素进行了仿真分析;在MATLAB仿真软件中分别使用两种控制器对上述影响因素进行了仿真计算,并对仿真结果进行了比较分析。
(4)研制了泵控马达闭式回路综合试验台,并对影响调速系统动态性能的因素作了试验研究;最后对系统中的变量泵进行了动静态性能试验。
With the mobile hydraulics towards the development of large scale and heavy duty, and the complex working conditions, the requirements of driving system have been highly increased. Most of the driving systems for mobile hydraulics have been adopted pump-control-motor closed-circuit system. Related technical research in foreign countries has been very mature and extensively, but the domestic research on the issue is relatively backward and also far behind the international level. Therefore the research of pump-control-motor closed-circuit for mobile hydraulics driving system and key hydraulic components will have great significance.
The pump-control-motor closed-circuit for mobile hydraulics driving system is the research object of the scientific dissertation. The static mathematic model was set up by using force equilibrium equation and flow continuity equation. The dynamic simulation model was built up in simulation software. The influence factors to the dynamic performance of the system had been analyzed in simulation environment. Towards the above factors, the conventional PID controller and self-tuning fuzzy PID controller based on disturbance observer were designed and analyzed in simulation software. The simulation results proved that the latter control effect was better than the former. On the basis of theoretical analysis, the comprehensive test bed of pump-control-motor closed-circuit system had been manufactured. The influence factors to the dynamic performance of the system had been tested. The test results and simulation results were in the same trend. Finally, the test and research to the static and dynamic performance of the variable pump had been taken.
This scientific dissertation mainly include the following aspects of content:
In chapter 1, the pump-control-motor closed-circuit speed system was discussed. The research status and development trend of the system for mobile hydraulics driving system were briefly introduced. Then the subject significance, the research methods and research content were put forwards.
In chapter 2 and 3, the mathematical model of the pump-control-motor closed-circuit speed system and the system transfer function had been set up. The conventional PID controller and the self-tuning fuzzy PID controller based on disturbance observer had been built up.
In chapter 4, the simulation model of the pump-control-motor closed-circuit speed system had been built in AMESim simulation software. The influence factors to the dynamic performance of the system had been analyzed in simulation environment. The simulation analysis of the influence factors to the dynamic performance of the system had been made in MATLAB simulation software using the above two controller. The simulation results had been compared.
In chapter 5, the comprehensive test bed of pump-control-motor closed-circuit system had been manufactured. The influence factors to the dynamic performance of the speed system had been research in the test environment. Finally, the static and dynamic test of the variable pump had been taken.
本论文以工程机械行走驱动泵控马达闭式回路调速系统为研究对象,运用力平衡方程和流量连续性方程建立系统的静态数学模型;在仿真软件中建立相应的动态仿真模型,且对影响系统动态性能的因素进行了仿真分析;针对上述因素设计了常规PID和基于干扰观测器的自整定模糊PID控制器并进行仿真计算,仿真结果表明后者控制效果优于前者;在理论分析基础上,研制了泵控马达闭式回路综合试验台,对影响系统动态性能的因素进行了试验,测试结果与仿真计算结果在趋势上基本吻合,最后对系统中的变量泵进行了动静态性能测试研究。
本论文主要包括以下几个方面的内容:
(1)简要论述了泵控马达闭式回路调速系统,介绍了工程机械行走驱动泵控马达闭式回路调速系统的研究现状和发展趋势,然后提出了课题的研究意义、研究方法及主要研究内容。
(2)对泵控马达闭式回路调速系统进行数学建模,得到系统的传递函数;设计了常规PID和基于干扰观测器的自整定模糊PID控制器。
(3)在AMESim仿真软件中建立泵控马达闭式回路调速系统的计算模型,且对影响系统动态性能的因素进行了仿真分析;在MATLAB仿真软件中分别使用两种控制器对上述影响因素进行了仿真计算,并对仿真结果进行了比较分析。
(4)研制了泵控马达闭式回路综合试验台,并对影响调速系统动态性能的因素作了试验研究;最后对系统中的变量泵进行了动静态性能试验。
With the mobile hydraulics towards the development of large scale and heavy duty, and the complex working conditions, the requirements of driving system have been highly increased. Most of the driving systems for mobile hydraulics have been adopted pump-control-motor closed-circuit system. Related technical research in foreign countries has been very mature and extensively, but the domestic research on the issue is relatively backward and also far behind the international level. Therefore the research of pump-control-motor closed-circuit for mobile hydraulics driving system and key hydraulic components will have great significance.
The pump-control-motor closed-circuit for mobile hydraulics driving system is the research object of the scientific dissertation. The static mathematic model was set up by using force equilibrium equation and flow continuity equation. The dynamic simulation model was built up in simulation software. The influence factors to the dynamic performance of the system had been analyzed in simulation environment. Towards the above factors, the conventional PID controller and self-tuning fuzzy PID controller based on disturbance observer were designed and analyzed in simulation software. The simulation results proved that the latter control effect was better than the former. On the basis of theoretical analysis, the comprehensive test bed of pump-control-motor closed-circuit system had been manufactured. The influence factors to the dynamic performance of the system had been tested. The test results and simulation results were in the same trend. Finally, the test and research to the static and dynamic performance of the variable pump had been taken.
This scientific dissertation mainly include the following aspects of content:
In chapter 1, the pump-control-motor closed-circuit speed system was discussed. The research status and development trend of the system for mobile hydraulics driving system were briefly introduced. Then the subject significance, the research methods and research content were put forwards.
In chapter 2 and 3, the mathematical model of the pump-control-motor closed-circuit speed system and the system transfer function had been set up. The conventional PID controller and the self-tuning fuzzy PID controller based on disturbance observer had been built up.
In chapter 4, the simulation model of the pump-control-motor closed-circuit speed system had been built in AMESim simulation software. The influence factors to the dynamic performance of the system had been analyzed in simulation environment. The simulation analysis of the influence factors to the dynamic performance of the system had been made in MATLAB simulation software using the above two controller. The simulation results had been compared.
In chapter 5, the comprehensive test bed of pump-control-motor closed-circuit system had been manufactured. The influence factors to the dynamic performance of the speed system had been research in the test environment. Finally, the static and dynamic test of the variable pump had been taken.
引文
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