黄伟男,张晓刚,权龙,葛磊.大惯性回转系统速度位置复合控制特性研究[J].农业机械学报,2018,49(10):410-417.
HUANG Weinan,ZHANG Xiaogang,QUAN Long,GE Lei.Velocity and Position Combined Control of Hydraulic Swing System with Large Inertia[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(10):410-417.
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大惯性回转系统速度位置复合控制特性研究   [下载全文]
Velocity and Position Combined Control of Hydraulic Swing System with Large Inertia   [Download Pdf][in English]
投稿时间:2018-06-02  
DOI:10.6041/j.issn.1000-1298.2018.10.048
中文关键词:  回转系统  进出口独立控制  速度位置复合控制  速度前馈
基金项目:国家自然科学基金项目(U1510206、51575374)和山西省应用基础研究项目(201701D221140)
作者单位
黄伟男 太原理工大学 
张晓刚 太原理工大学 
权龙 太原理工大学 
葛磊 太原理工大学 
中文摘要:传统工程机械液压回转系统位置控制一般采用驾驶员在环的控制方式,靠驾驶员的观测实现定位,由于驾驶员反应较慢,会影响生产效率和作业的一致性,难以满足对回转定位精度要求较高的工程作业。针对这一问题,在进出口独立控制液压回转系统的基础上,提出采用速度位置复合闭环控制方法,加入速度前馈用于减小跟踪误差,同时加入压差反馈和速度反馈用于减小压力和速度波动,改善系统运行平稳性。首先建立了液压挖掘机回转系统多体动力学机电液联合仿真模型,对所提控制策略的有效性进行了验证;并以液压挖掘机为研究对象,构建了进出口独立控制回转试验测试系统,对所提出的控制方法进行了试验分析。仿真和试验结果表明,对于不同的期望速度和期望位置,无论回转系统正向还是反向运行,都可以获得较高的定位精度,定位误差在0.5°~1.5°之间,而且与开环控制相比,系统运行压力和速度波动明显减小,最大波动压力减小了41.6%,运行平稳性提高。
HUANG Weinan  ZHANG Xiaogang  QUAN Long  GE Lei
Taiyuan University of Technology,Taiyuan University of Technology,Taiyuan University of Technology and Taiyuan University of Technology
Key Words:swing system  separate meter-in and meter-out  velocity and position combined control  velocity feedforward
Abstract:The position of conventional hydraulic swing system with large inertia is controlled with driver-in-loop. According to the observation, the driver adjusts the handle to control the multiway valve with single degree of freedom. Because the human reaction is slow, the production efficiency and repetitive positioning precision is low, and it is difficult to meet the requirements of engineering operations with high rotary positioning accuracy. Furthermore, the energy consumption is high. To solve the above mentioned problems, based on the separate meter-in and meter-out hydraulic swing system, a velocity and position combined control method was proposed. In this method, a precisely desired position was given as the input signal for the position closed-loop control, and the desired velocity and displacement were S-curves. In addition, the velocity feedforward control and position closed-loop control were used to reduce the tracking error, and the pressure and velocity feedback control were also applied to the swing system to improve smoothness of the working process. Firstly, a three-dimensional co-simulation simulation model was developed, which integrated the multi-body dynamics system and electro-hydraulic system for analyzing the feasibility of this swing system, and the control parameters of the hydraulic components were determined according to hardware and the control strategy developed. Then the system principle and the control strategy were verified and debugged by making a simulation. Besides, an experiment was carried out on a 6-ton hydraulic excavator. The simulation and experiment results demonstrated that high positioning accuracy can be achieved in both forward and reverse moving directions with different desired speeds. The positioning error was about 0.5°~1.5°, and the velocity and pressure fluctuation were all reduced. The maximum fluctuation pressure was decreased by 41.6%.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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