Research on Tracking Speed Control of HMCVT Stepless Segment
-
摘要: 为了解决拖拉机在实际行驶过程中，由于马达转速的变化存在响应的滞后，造成各工况下拖拉机的车速并非最优值。设计了HMCVT泵控马达系统转速跟踪控制器，实现马达转速的实时跟踪。建立了HMCVT泵控马达系统的数学模型，采用模糊PID控制器对马达转速进行实时控制。提出了一种改进粒子群算法寻优的方法，对模糊PID控制器的参数进行寻优。根据寻优的最优系数，在MATLAB/Simulink中搭建HMCVT泵控马达系统的仿真模型并进行相关仿真。仿真结果表明：采用改进粒子群算法优化的模糊PID控制器能够很好地实现马达转速的跟踪控制，跟踪误差以及超调量很小，同时在系统受到外负载扰动时表现出良好的跟随特性。研究结果为制定拖拉机HMCVT的最佳燃油经济性和最佳动力性的段内控制策略提供了理论参考。Abstract: In order to solve the response delay of the motor during the actual driving process of the tractor, resulting in the speed of the tractor under various working conditions is not optimal, a speed tracking controller of hydraulic mechanical continuously variable transmission (HMCVT) pump-controlled motor system was designed to realize the motor speed track in real time. At first, the mathematical model of HMCVT pump-controlled motor system was established, and a fuzzy PID controller was employed to control the motor speed in real time. Then, a method based on improved particle swarm optimization algorithm was used to optimize the parameters of fuzzy PID controller. At last, according to the optimal optimization coefficient, a simulation model of HMCVT pump-controlled motor system was built in MATLAB / Simulink and relevant simulations were performed. The simulation results show that the optimized fuzzy PID controller can well implement the tracking control of the motor speed, the tracking error and the overshoot are small, and the system is well followed by the external load disturbance. The research results provide a theoretical reference for the development of an in-segment control strategy for the best fuel economy and best power of the tractor HMCVT.
-
Key words:
- HMCVT /
- pump-controlled motor /
- improved particle swarm algorithm /
- fuzzy PID /
- speed control
-
表 1 HMCVT泵控马达系统目标马达转速
区段 HMCVT泵控马达系统目标马达转速 HM1 ${n_{m1}} = \dfrac{{{k_3}\left( {1 + {k_1}} \right)\left( {1 + {k_4}} \right){i_1}{i_3}{i_4}{i_4}{n_{out}} + \left( {1 + {k_1}} \right)\left( {1 + {k_2}} \right){i_1}{i_2}{n_0}}}{{\left( {1 + {k_2} + {k_3}} \right)}} - {k_1}{i_1}{i_2}{n_0}$ HM2 ${n_{m2}} = \dfrac{{\left( {1 + {k_1}} \right)\left( {1 + {k_2}} \right){i_1}{i_2}{n_0} - \left( {1 + {k_1}} \right)\left( {1 + {k_4}} \right){i_2}{i_3}{i_4}{i_4}{n_{out}}}}{{{k_2}}} - {k_1}{i_1}{i_2}{n_0}$ HM3 ${n_{m3}} = \left( {1 + {k_1}} \right){i_1}{i_2}{i_3}{i_4}{n_{{\rm{out }}}} - {k_1}{i_1}{i_2}{n_0}$ HM4 ${n_{m4}} = \dfrac{{\left( {1 + {k_1}} \right)\left( {1 + {k_2}} \right){i_1}{i_2}{n_0} - \left( {1 + {k_1}} \right){i_1}{i_2}{i_3}{i_4}{n_{out}}}}{{{k_2}}} - {k_1}{i_1}{i_2}{n_0}$ 
下载: 导出CSV
表 2 各项参数优化结果
${k_1}$ ${k_2}$ ${k_3}$ ${k_4}$ ${i_1}$ ${i_2}$ ${i_3}$ ${i_4}$ 2.9598 1.9662 2.9987 2.9996 1.0013 1.0081 1.1274 1.3615
下载: 导出CSV
表 3 试验数据记录
励磁电压U/V 输入转速/
（r·min−1）输出转速/
（r·min−1）排量比 负载/
（N·m）1 1050 195.25 0.2881 150 2 194.25 0.2866 3 143.25 0.2114 4 77.75 0.1147 5 16.25 0.0239
下载: 导出CSV
表 4 优化变量的上下限取值
取值 ${K_e}$ ${K_{ec}}$ $\Delta {K_p}$ $\Delta {K_i}$ $\Delta {K_d}$ 下限 0.5 0.5 10 5 0.01 上限 1.5 1.5 30 15 1
下载: 导出CSV
表 5 改进PSO算法最优整定结果
${K_e}$ ${K_{ec}}$ $\Delta {K_p}$ $\Delta {K_i}$ $\Delta {K_d}$ 1.4484 1.0084 12.8839 13.3343 0.5434
下载: 导出CSV
-
[1] 何成奎, 郎朋飞, 康敏, 等. 大马力拖拉机液压机械无级变速器的传动设计及受力分析[J]. 机械传动, 2018, 42(3): 54-59HE C K, LANG P F, KANG M, et al. Transmission design and force analysis of HMCVT for high power tractor[J]. Journal of Mechanical Transmission, 2018, 42(3): 54-59 (in Chinese) [2] MACOR A, ROSSETTI A. Optimization of hydro-mechanical power split transmission[J]. Mechanism and Machine Theory, 2011, 46(12): 1901-1919 doi: 10.1016/j.mechmachtheory.2011.07.007 [3] 沈伟, 崔霞. 泵控马达速度伺服系统建模与仿真分析[J]. 液压气动与密封, 2019, 39(1): 80-86SHEN W, CUI X. Modeling and simulation analysis of speed servo system with pump controlled hydraulic motor[J]. Hydraulics Pneumatics & Seals, 2019, 39(1): 80-86 (in Chinese) [4] 蒙杨超, 董自安, 王珂. 电液比例泵控马达系统辨识及实验分析研究[J]. 液压气动与密封, 2015, 35(3): 35-39, 40MENG Y C, DONG Z A, WANG K. Identification and experimental analysis of electro-hydraulic proportional pump controlled motor system[J]. Hydraulics Pneumatics & Seals, 2015, 35(3): 35-39, 40 (in Chinese) [5] 彭晓睿, 倪向东, 王琦, 等. 液压机械无级变速器实验台的设计与试验[J]. 机械设计与制造, 2019(5): 125-127, 132PENG X R, NI X D, WANG Q, et al. Design and experiment of hydro-mechanical continuously variable transmission platform[J]. Machinery Design & Manufacture, 2019(5): 125-127, 132 (in Chinese) [6] 朱镇, 高翔, 曹磊磊, 等. 泵控马达系统响应特性和效率特性的研究[J]. 机床与液压, 2016, 44(17): 87-92ZHU Z, GAO X, CAO L L, et al. Research on response characteristic and efficiency characteristic of pump-control-motor system[J]. Machine Tool & Hydraulics, 2016, 44(17): 87-92 (in Chinese) [7] 杨洁, 王崴, 范宇恒. 大功率泵控马达调速系统控制策略研究[J]. 火力与指挥控制, 2018, 43(11): 123-127YANG J, WANG W, FAN Y H. Research of control strategy of high-power pump-control-motor speed governing system[J]. Fire Control & Command Control, 2018, 43(11): 123-127 (in Chinese) [8] 谢建, 张力, 谢政, 等. 液压泵控马达系统转速滑模控制优化设计研究[J]. 计算机仿真, 2016, 33(5): 295-298XIE J, ZHANG L, XIE Z, et al. Research on backstepping schemes within sliding mode term for the pump-controlled motor system[J]. Computer Simulation, 2016, 33(5): 295-298 (in Chinese) [9] 张浩强. 基于遗传算法泵控液压马达系统优化研究[J]. 机床与液压, 2017, 45(22): 90-92ZHANG H Q. Optimization research on pump control hydraulic motor system based on genetic algorithm[J]. Machine Tool & Hydraulics, 2017, 45(22): 90-92 (in Chinese) [10] 陈丽缓, 韩伟娜, 吕玉梅, 等. 基于LQ的变转速泵控马达系统转速控制研究[J]. 机床与液压, 2017, 45(7): 20-22, 80CHEN L H, HAN W N, LV Y M, et al. Speed control study on variable speed pump control motor system based on LQ[J]. Machine Tool & Hydraulics, 2017, 45(7): 20-22, 80 (in Chinese) [11] 程准, 陆凯, 钱煜, 等. 基于改进PSO算法的MAP图标定点选择新方法[J]. 计算机应用研究, 2019, 36(10): 3493-3495CHENG Z, LU K, QIAN Y, et al. New method of MAP fixed-point selection based on improved PSO algorithm[J]. Application Research of Computers, 2019, 36(10): 3493-3495 (in Chinese) [12] 王俊倩. 基于AMESim与Simulink联合仿真的泵控马达调速系统控制研究[D]. 成都: 西华大学, 2016.WANG J Q. Control research of pump-control-motor speed governing system based on AMESim and Simulink co-simulation[D]. Chengdu: Xihua University, 2016 (in Chinese). [13] 苑士华, 魏超, 张银彩. 液压机械无级变速器动态特性的影响因素研究[J]. 农业工程学报, 2008, 24(2): 33-38YUAN S H, WEI C, ZHANG Y C. Influencing factors for dynamic characteristics of hydro-mechanical continuously variable transmission[J]. Transactions of the CSAE, 2008, 24(2): 33-38 (in Chinese) [14] 高翔, 朱镇, 曹磊磊, 等. 电液比例泵控马达系统动态特性分析[J]. 机械设计与制造, 2016(2): 29-33GAO X, ZHU Z, CAO L L, et al. Research on dynamic characteristics of electro-hydraulic proportional pump-control-motor system[J]. Machinery Design & Manufacture, 2016(2): 29-33 (in Chinese) [15] 吴晓明, 高殿荣. 液压变量泵(马达)变量调节原理与应用[M]. 北京: 机械工业出版社, 2012.WU X M, GAO D R. Principle and application of variable adjustment of hydraulic variable pump (motor)[M]. Beijing: Mechanical Industry Press, 2012 (in Chinese) [16] FAN Y C, LI Y S, YU Q, et al. Simulation for stewart parallel robot with fuzzy self- tuning PID controller based on ADAMS and MATLAB[J]. Instrumentation and Equipments, 2015, 3(3): 63-71 doi: 10.12677/IaE.2015.33009 [17] KENNEDY J, EBERHART RC. Particle swarm optimization[C]//Proceedings of ICNN International Conference on Neural Networks. Perth: IEEE, 1995: 1942-1948. [18] 包子阳, 余继周, 杨衫. 智能优化算法及其MATLAB实例[M]. 2版. 北京: 电子工业出版社, 2018.BAO Z Y, YU J Z, YANG S. Intelligent optimization algorithm and its MATLAB example[M]. 2nd ed. Beijing: Publishing House of Electronics Industry, 2018 (in Chinese) [19] 仝秋娟, 李萌, 赵岂. 基于分类思想的改进粒子群优化算法[J]. 现代电子技术, 2019, 42(19): 11-14TONG Q J, LI M, ZHAO Q. An improved particle swarm optimization algorithm based on classification[J]. Modern Electronics Technique, 2019, 42(19): 11-14 (in Chinese) [20] 杨晓, 王国柱. 基于PID控制理论的改进粒子群优化算法[J]. 控制工程, 2019, 26(8): 1497-1502YANG X, WANG G Z. The improved particle swarm optimization algorithm based on PID control theory[J]. Control Engineering of China, 2019, 26(8): 1497-1502 (in Chinese) -
点击查看大图
图(14) / 表(5)
计量
- 文章访问数: 159
- HTML全文浏览量: 79
- PDF下载量: 23
- 被引次数: 0
