基于线性二次最优控制PID参数优化方法的泵控马达系统研究

Study on pump control motor system based on linear quadric optimizing control PID parameter

结合电液比例控制试验台上的泵控马达系统的组成、液压回路原理,重点讨论试验台上的泵控马达系统的恒速控制问题;建立变量泵控制马达系统的动态特性数学模型;提出泵控马达恒速控制系统的控制方法:PID控制与LQR控制。从理论上分析两种控制策略的方法、关系以及优缺点。用MATLAB软件对系统进行仿真,分析两种控制策略在不同的负载条件下的阶跃响应,得出相应的马达转速响应曲线图。从仿真结果看,LQR调节的性能优于PID控制,说明采用LQR调节器作为泵控马达恒速控制系统的控制方法是良好的。

Based on the composing and hydraulic circuit principle of motor system, which is on the test bench controlled by electro-hydraulic proportion, this paper mainly researched constant rate control of pump control motor system and built the dynamic behavior mathematic model of motor system controlled by variable pump. It proposed and introduced the methods of constant rate control： PLD and LQR control. This paper also introduced and analyzed the relation between two methods. At last, MATLAB was used to simulate motor system, and step response was researched, which is obtained under different load condition by two methods. The chart of motor rotation response was obtained. The results showed the adjustment performance of LQR was better than PID, and it approved that LQR was an excellent method when controlling constant rate of pump control motor system.