叉车线控转向执行电机控制策略研究

Research on control strategy of forklift steer by wire actuator

针对叉车转向频繁、转向性能要求高、采用传统PID控制器控制电机时对工作环境变化适应性能差且控制性能效率低等问题,在矢量控制基础上参考永磁同步电机伺服控制原理,提出一种叉车线控转向执行电机控制策略。通过分析永磁同步电机控制特性,确定了系统采用三闭环的控制策略来实现对电机的高精度控制;在速度环设计了PID模糊控制器来解决负载直接作用于电机产生扰动从而造成系统响应慢的问题,并同时与位置环和电流环的传统控制策略一起实现对电机的精确控制;通过与传统PID控制策略对比,利用软件完成所设计控制策略的建模与仿真。仿真结果表明,该系统拥有较好的快速性和稳定性,且位置跟踪延时小,能够满足叉车线控转向系统的需求。

Aiming at the problems of frequent steering,high steering performance requirements,poor adaptability to the changes of working environment and low control performance efficiency when using traditional PID controller to control the motor,a control strategy of forklift steer by wire executive motor is proposed on the basis of vector control and referring to the servo control principle of permanent magnet synchronous motor.Firstly,by analyzing the control characteristics of permanent magnet synchronous motor,it is determined that the system adopts the three closed-loop control strategy to realize the high-precision control of the motor.Secondly,a PID fuzzy controller is designed in the speed loop to solve the problem of slow response caused by the disturbance of the load directly acting on the motor,and realize the accurate control of the motor together with the traditional control strategy of position loop and current loop.Finally,by comparing with the traditional PID control strategy,the modeling and simulation of the designed control strategy are completed by software.The simulation results show that the system has good rapidity and stability,and the position tracking delay is small,which can meet the requirements of forklift steer by wire system.