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针对泵控并联变量马达速度系统中的流量自适应分配特性和相乘非线性环节,提出了分别通过变量泵实现系统压力控制和变量马达实现所驱动轴的转速控制的复合控制架构.针对泵控压力系统和变量马达调速系统分别推导了二阶线性化模型.为实现系统压力动态调节,提出了期望压力规划方法,并设计了滑模控制器.通过在变量马达调速PID(Propor-tion Integration Differentiation)控制器引入扰动观测器,抑制了非线性扰动和未知负载扰动,提高了波动压力下的稳态精度.结合双轴驱动车辆行走驱动转速系统设计了复合控制器,仿真结果确认了所提出的复合控制策略的有效性.
Aiming at the characteristics of flow adaptive distribution and multiplication nonlinearity in the speed control system of pump-controlled parallel variable motor, a compound control architecture is proposed to realize the control of the rotational speed of the driven shaft by the system of variable pressure pump and variable motor respectively. Pressure system and variator motor speed regulation system respectively. In order to realize the dynamic pressure regulation of the system, the expectation pressure programming method is proposed and the sliding mode controller is designed. Through the application of variable speed PID Integration Differentiation controller introduces a disturbance observer, which suppresses nonlinear disturbances and unknown load disturbances and improves the steady-state accuracy under fluctuating pressure.Combined with biaxial driving vehicle speed control system, a hybrid controller is designed, and the simulation results confirm that The effectiveness of the proposed composite control strategy.