时滞动态补偿方法在泵车臂架液控系统中的应用研究

Study on Application of Dynamically Compensate Method of Time-delay in Hydraulic Control System of Pump Truck Boom

针对泵车臂架电液控制系统的非线性时滞问题,提出一种适用于泵车臂架结构的动态时滞补偿方法。该方法以泵车臂架末端振动位移历史数据为基础,通过时间序列法对此后某段时间内的泵车臂架的振动姿态提前预测,对系统中的非线性时滞进行动态补偿,为泵车臂架末端位置控制系统提供可靠的反馈数据,为液压阀控缸的位置和速度控制系统提供实时的参考输入。外场试验验证了该时滞补偿算法在提高泵车臂架操控平顺性和阀控缸响应速度方面的有效性。

Aimed at the problem of nonlinear time-delay in hydraulic control system of pump truck boom, a dynamically compen- sation method of time-delay was proposed which suitably applied in the structure of pump truck boom. The time-series method was used to predict vibrating attitude for the pump truck boom in the next time period in advance, which based on the history vibrating displace- ment data of pump truck boom tip. The nonlinear time-delay in the system was compensated dynamically, and reliable feedback data were provided for the position control system of pump truck boom tip. Reference inputs in real time were provided for control system of position and speed of hydraulic valve controlled cylinder. Field experiment has verified the effectiveness of time-delay compensation al- gorithm in the aspects of improving smooth manipulation of pump truck boom and response speed for the valve controlled hydraulic cyl- inder.