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针对复杂农林环境下植保喷雾作业对底盘智能化、柔性化等的需求问题,采用双侧液压马达同步回转系统数学模型分析法和外层自抗扰控制,内层PID协调控制的同步控制策略,提出一种液压直驱的概念喷雾机底盘,以离散化形式设计了3阶自抗扰控制器,并对双侧液压马达同步控制问题进行研究。通过SIMULINK仿真和试验台试验,结果表明:1)所制定的自抗扰同步控制策略相比传统的PID控制,系统响应更快速,其上升时间为1.2s,稳定时间3s;2)扰动工况下的双马达同步控制误差更低,其中,在马达2内部参数摄动下,双马达的试验同步误差峰值仅为-0.016rad,同步控制精度高于0.060%,而采用PID控制,双马达同步误差峰值可达-0.850rad,同步控制精度低于2.000%;3)自抗扰同步控制器具有更高的控制精度和扰动误差补偿能力,能满足喷雾机底盘直线行驶需求。该研究可为复杂农林环境下作业的行走机械底盘设计和液压系统同步控制提供理论参考。
In order to meet the demand of the chassis intelligent and flexible under the circumstances of complex agriculture and forestry environment, the mathematical model analysis method of double-side synchronous motor of hydraulic motor and the automatic disturbance rejection control of outer layer and the synchronous control strategy of inner PID coordinated control are adopted. A hydraulic direct-drive concept sprayer chassis is proposed. A 3-order AGR controller is designed in discrete form and the synchronous control of bilateral hydraulic motors is studied. The simulation results show that: 1) Compared with the traditional PID control system, the system has faster response time, the rise time is 1.2s and the settling time is 3s; 2) The disturbance condition Under the control of the internal parameters of the motor 2, the peak value of the synchronous error of the dual motor is only -0.016rad and the accuracy of the synchronous control is higher than 0.060%. However, PID control and dual motor synchronization The error peak value is up to -0.850 rad and the synchronization control accuracy is lower than 2.000%. 3) ADRC controller has higher control accuracy and disturbance error compensation ability, which can meet the requirement of linear driving of sprayer chassis. This research can provide a theoretical reference for the design of walking chassis and the synchronous control of hydraulic system in complex agriculture and forestry environment.