泵控并联变量马达速度系统复合控制策略

Compound control strategy for the pump-controlled-parallelvariable-displacement-motor speed system

针对泵控并联变量马达速度系统中的流量自适应分配特性和相乘非线性环节,提出了分别通过变量泵实现系统压力控制和变量马达实现所驱动轴的转速控制的复合控制架构.针对泵控压力系统和变量马达调速系统分别推导了二阶线性化模型.为实现系统压力动态调节,提出了期望压力规划方法,并设计了滑模控制器.通过在变量马达调速PID(Propor-tion Integration Differentiation)控制器引入扰动观测器,抑制了非线性扰动和未知负载扰动,提高了波动压力下的稳态精度.结合双轴驱动车辆行走驱动转速系统设计了复合控制器,仿真结果确认了所提出的复合控制策略的有效性.

Addressing the adaptive characteristics of the flow rate and the multiplying nonlinearity in the pump-controlled-parallel-variable-displacement-motor speed system,a kind of compound control architecture was proposed,in which the pressure is controlled by on the variable displacement pump and the rotational speed of each driving axle is controlled by variable displacement motor respectively.The 2-order linearized models of the pump-controlled-pressure-system and the motor-speed-control-system were derived.A pressure planning algorithm and a sliding mode control law were presented for the dynamic regulating of pressure.By means of introducing of the disturbance observer to the motor proportion integration differentiation controller,the nonlinear disturbance and unknown load disturbance can be restrained,so as to promote the steady precision under fluctuant pressure.The compound controller for a 1-pump-2-motor system of the transporter was designed.The simulation verifies validity of the proposed compound control strategy.