混合动力挖掘机回转速度控制系统的研究

针对挖掘机回转速度控制系统存在转动惯量变化大、外干扰等不确定性。采用了液压混合动力技术的挖掘机回转装置的速度控制系统进行了鲁棒控制器设计,并进行了校正后系统的仿真验证。采用基于线性矩阵不等式(LMI)的H∞控制器设计方法,通过选择适当的加权函数矩阵,将实际控制系统转化为广义受控对象,设计出满足性能要求的鲁棒控制器。仿真结果表明:所设计的速度控制系统具有较强鲁棒性,能有效地抵抗回转运行过程中的参数摄动和干扰,满足控制系统性能指标。

Study of Speed Control System of Hydraulic Hybrid Excavator Slewing

In light of the change of the inertia of the slewing in a large range and the existence of unknown disturbances, for the speed control system of hydraulic hybrid excavator slewing, a robust controller was designed by using hybrid hydraulic drive technology, and its effectiveness was validated after correction of the system.A robust H∞ controller was designed based on linear matrix inequality ( LMI) .The actual controlled object was converted to an extensive controlled object by choosing the suitable weighting function of ma-trix.Then a robust controller was designed which met requirements in performance.The simulation results show that the designed con-troller system has greater stability and robustness, can effectivly resist parametric disturbance and interference, which satisfying the de-sired performance requirements of the system.