液压机械无级变速器速比自抗扰控制研究

Study on Active Disturbance Rejection Control for Speed Ratio of Hydro-mechanical Continuously Variable Transmission

本文中设计了一种单行星排液压机械无级变速器,并为提高其速比跟踪控制性能,提出一种带前馈的自抗扰控制算法,以实现速比的跟踪控制。首先建立系统数学模型,通过传动系统转速关系的理论分析,得到前馈控制量,进一步采用自抗扰控制器对速比进行闭环控制。接着建立系统仿真平台和原型样车,通过仿真和试验对设计的带前馈自抗扰速比控制器进行验证。结果表明:提出的自抗扰速比控制法能有效实现速比的跟踪控制,与经典PID控制相比,具有速比偏差小、响应速度快、适应性好和抗干扰能力强的优点。

In this paper,a hydro-mechanical continuously variable transmission with single planetary row is designed,and for enhancing its speed ratio tracking control performance,an active disturbance rejection control(ADRC)algorithm with feedforward compensation is proposed to achieve the speed ratio tracking control.Firstly,a mathematical model of the system is established,the feed-forward control quantity is obtained through a theoretical analysis on the rotational speed relationship of transmission system,and the active disturbance rejection controller is adopted to apply the closed-loop control on speed ratio.Then the system simulation platform is set up,the prototype vehicle is built,and the designed active disturbance rejection speed ratio controller with feedforward compensation is verified by simulation and test.The results show that the proposed active disturbance rejection speed ratio control scheme can effectively achieve the tracking control of speed ratio.Compared with the classical PID control,ADRC has the advantages of small deviation in speed ratio,high response speed,good adaptability and strong disturbance resistance ability.