| 考虑负载扰动的电液转向系统控制研究 |
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| 引用本文： | 蔺素宏,安高成,郭宇航,吴波涛.考虑负载扰动的电液转向系统控制研究[J].液压与气动,2019,0(12):101-106. |
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| 作者姓名： | 蔺素宏 安高成 郭宇航 吴波涛 |
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| 作者单位： | 1.太原科技大学重型机械教育部工程研究中心， 山西太原030024；
2.太原工业学院机械工程系， 山西太原030024； 3.宁波中意液压马达有限公司， 浙江宁波315000 |
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| 基金项目： | 太原重型机械装备协同创新中心项目(1331) |
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| 摘 要： | 针对农机的电液伺服转向系统，为了克服转向力对系统的影响，提高在各种路况下的跟踪精度，设计了一种基于负载力观测器的前馈和最优状态反馈控制复合控制策略。先采用Luenberger观测器对负载力进行在线估计，然后用线性二次型调节器（LQR）得到系统线性最优反馈控制律，最后把观测到的负载力前馈到系统输入来消除负载力的影响，提高伺服系统精度。仿真和试验结果表明，所设计的负载力观测器能迅速地跟踪实际值，基于观测器的前馈和最优状态反馈复合控制策略具有较高的跟踪精度和抗负载干扰能力。
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| 关 键 词： | 负载观测器 前馈 线性最优状态反馈 复合控制 |
| 收稿时间： | 2019-02-21 |
Electro-hydraulic Steering System Control Under Load Disturbance |
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| LIN Su-hong,AN Gao-cheng,GUO Yu-hang,WU Bo-tao.Electro-hydraulic Steering System Control Under Load Disturbance[J].Chinese Hydraulics & Pneumatics,2019,0(12):101-106. |
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| Authors: | LIN Su-hong AN Gao-cheng GUO Yu-hang WU Bo-tao |
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| Affiliation: | 1. Engineering Research Center of Ministry of Education of Heavy Machinery， Taiyuan University of Science and Technology，
Taiyuan， Shanxi030024；
2. Department of Mechanical Engineering， Taiyuan Institute of Technology， Taiyuan， Shanxi030024；
3. Ningbo ZHONGYI Hydraulic Motor Co., Ltd.， Ningbo， Zhejiang315000 |
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| Abstract: | Focus on the electro-hydraulic servo machinery steering system, in order to overcome the steering force of the system, and improve the tracking accuracy, the hybrid feedback control strategy consisting of feedforward controller and linear quadratic regulator is proposed. In this paper, the Luenberger observer is used to estimate the load force online, the linear optimal feedback control law is obtained by using the linear quadratic regulator (LQR), the observed load force is fed into the system to eliminate the influence of the load force and improve the accuracy of the servo system. The simulation and experimental results show that the observer can quickly track the actual load force, and the hybrid control strategy consisting of the observer feedforward controller and LQR has high tracking accuracy and anti-load disturbance ability. |
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