液压泵控马达系统转速滑模控制优化设计研究

Research on Backstepping Schemes Within Sliding Mode term for the Pump-Controlled Motor System

在液压泵控马达优化控制的研究中,由于液压泵控马达系统是典型的非线性系统,固有频率较低,响应速度较慢,又因系统输入量只有泵转速,所以控制难度较大。为了精确控制液压泵控马达的输出,采用液压泵控马达的数学模型,引入滑模控制并进行了优化以克服抖振现象。仿真结果表明,与PⅢ控制、普通滑模控制相比,改进控制方法有较强的抗干扰能力和良好的跟踪性能,提高了液压泵控马达系统的控制精度和稳定性。

Pump-controlled motor system is a nonlinear system with a less natural frequency and a slower response speed,whose output depends on the pump rotate speed,which is hard to control.In order to control the pump-controlled motor output accurately,a control scheme named sliding mode control is introduced to design the controller based on the mathematical model of the Pump-controlled motor system.In order to overcome the buffeting,the controller is optimized.The simulation results demonstrate that the optimized sliding mode controller can track the input signal more accurately with a less error compared with PID controller and sliding mode controller,which improves the output accuracy of the Pump-controlled motor system.