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大慣性回轉(zhuǎn)系統(tǒng)速度位置復(fù)合控制特性研究
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國(guó)家自然科學(xué)基金項(xiàng)目(U1510206、51575374)和山西省應(yīng)用基礎(chǔ)研究項(xiàng)目(201701D221140)


Velocity and Position Combined Control of Hydraulic Swing System with Large Inertia
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    摘要:

    傳統(tǒng)工程機(jī)械液壓回轉(zhuǎn)系統(tǒng)位置控制一般采用駕駛員在環(huán)的控制方式,,靠駕駛員的觀測(cè)實(shí)現(xiàn)定位,,由于駕駛員反應(yīng)較慢,,會(huì)影響生產(chǎn)效率和作業(yè)的一致性,,難以滿足對(duì)回轉(zhuǎn)定位精度要求較高的工程作業(yè)。針對(duì)這一問題,,在進(jìn)出口獨(dú)立控制液壓回轉(zhuǎn)系統(tǒng)的基礎(chǔ)上,,提出采用速度位置復(fù)合閉環(huán)控制方法,加入速度前饋用于減小跟蹤誤差,,同時(shí)加入壓差反饋和速度反饋用于減小壓力和速度波動(dòng),,改善系統(tǒng)運(yùn)行平穩(wěn)性。首先建立了液壓挖掘機(jī)回轉(zhuǎn)系統(tǒng)多體動(dòng)力學(xué)機(jī)電液聯(lián)合仿真模型,,對(duì)所提控制策略的有效性進(jìn)行了驗(yàn)證,;并以液壓挖掘機(jī)為研究對(duì)象,構(gòu)建了進(jìn)出口獨(dú)立控制回轉(zhuǎn)試驗(yàn)測(cè)試系統(tǒng),,對(duì)所提出的控制方法進(jìn)行了試驗(yàn)分析,。仿真和試驗(yàn)結(jié)果表明,對(duì)于不同的期望速度和期望位置,,無(wú)論回轉(zhuǎn)系統(tǒng)正向還是反向運(yùn)行,,都可以獲得較高的定位精度,定位誤差在0.5°~1.5°之間,,而且與開環(huán)控制相比,,系統(tǒng)運(yùn)行壓力和速度波動(dòng)明顯減小,最大波動(dòng)壓力減小了41.6%,,運(yùn)行平穩(wěn)性提高,。

    Abstract:

    The position of conventional hydraulic swing system with large inertia is controlled with driver-in-loop. According to the observation, the driver adjusts the handle to control the multiway valve with single degree of freedom. Because the human reaction is slow, the production efficiency and repetitive positioning precision is low, and it is difficult to meet the requirements of engineering operations with high rotary positioning accuracy. Furthermore, the energy consumption is high. To solve the above mentioned problems, based on the separate meter-in and meter-out hydraulic swing system, a velocity and position combined control method was proposed. In this method, a precisely desired position was given as the input signal for the position closed-loop control, and the desired velocity and displacement were S-curves. In addition, the velocity feedforward control and position closed-loop control were used to reduce the tracking error, and the pressure and velocity feedback control were also applied to the swing system to improve smoothness of the working process. Firstly, a three-dimensional co-simulation simulation model was developed, which integrated the multi-body dynamics system and electro-hydraulic system for analyzing the feasibility of this swing system, and the control parameters of the hydraulic components were determined according to hardware and the control strategy developed. Then the system principle and the control strategy were verified and debugged by making a simulation. Besides, an experiment was carried out on a 6-ton hydraulic excavator. The simulation and experiment results demonstrated that high positioning accuracy can be achieved in both forward and reverse moving directions with different desired speeds. The positioning error was about 0.5°~1.5°, and the velocity and pressure fluctuation were all reduced. The maximum fluctuation pressure was decreased by 41.6%.

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黃偉男,張曉剛,權(quán)龍,葛磊.大慣性回轉(zhuǎn)系統(tǒng)速度位置復(fù)合控制特性研究[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2018,49(10):410-417. HUANG Weinan, ZHANG Xiaogang, QUAN Long, GE Lei. Velocity and Position Combined Control of Hydraulic Swing System with Large Inertia[J]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(10):410-417.

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  • 收稿日期:2018-06-02
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  • 在線發(fā)布日期: 2018-10-10
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