摘要
液压机械传动装置(hydro-mechanical transmission,HMT)是一种机-液耦合的强非线性系统,在换段过程中存在外界负载扰动和建模误差等因素影响其换段品质。该研究在分析HMT组成及工作原理的基础上,建立了HMT换段过程动力学模型和线性二次型控制模型,提出一种基于扰动前馈补偿的换段离合器控制方法,借助扰动观测器估计HMT换段过程的总扰动,将扰动补偿增益引入控制器的前馈项,实现扰动前馈补偿,并设计了抑制换段过程扰动的控制器。仿真结果表明,与未采用扰动前馈补偿控制相比,扰动前馈补偿控制的扰动值最大降低了48.9%、冲击度降低了27.8%、滑摩功减少了29.6%、换段时间减少了15.3%。最后通过试验验证了所提方法在快速处理换段过程扰动的同时,可较好地提升HMT的换段品质。研究结果可为液压机械传动装置的工程应用提供参考。
Hydro-mechanical transmission(HMT)is one type of mechanical-hydraulic stepless transmission.There is a better tradeoff between the stepless speed regulation of hydraulic and efficient speed change of mechanical transmission.Clutch control is closely related to the appropriate timing of engagement and separation,due to the great influence of disturbance on the quality of the shifting process.It is necessary to clarify the shifting clutch for the higher quality of HMT during shifting.However,a strong nonlinear system is coupled with the HMT under modeling error and external load disturbance.In this study,the shifting clutch pressure control was proposed using disturbance feedforward compensation.The dynamical model of shifting and the mathematical model of the clutch in the sliding were also established using the composition and working principle of HMT.The optimal linear-quadratic model was achieved,where the jerk,sliding power,and shifting time were taken as the evaluation indexes during shifting,while the performance index of the quadratic function was the state control variable.The total disturbance during shifting was also estimated to rapidly respond to the disturbance using the first-order disturbance observer.The compensation gain of disturbance was introduced into the feedforward term of the controller,in order to realize the disturbance feedforward compensation.After that,the feedforward compensation gain was obtained,according to the disturbance estimate and compensation coefficient kd.Then,the optimal controller was designed to suppress the disturbance of the shifting process for the optimization of the quadratic index.The functional weight coefficients were set as q=1,and r=0.1,the equivalent moment of the inertia of the HMT input shaft,clutch C2 driven disc,quantitative motor output shaft,and HMT output shaft were set as 0.02,0.04,0.05,and 1 kg·m2,respectively,while the equivalent damping coefficients were set as 0.015,0.2,0.018,and 0.016 N·m·rad/s,respectively.The co-simulation of HMT during shift
作者
曹付义
李辉煌
罗自赢
张明柱
CAO Fuyi;LI Huihuang;LUO Ziying;ZHANG Mingzhu(School of Vehicle and Traffic Engineering,Henan University of Science and Technology,Luoyang 471003,China;Henan Province Collaborative Innovation Center for Advanced Manufacturing of Mechanical Equipment,Luoyang 471003,China)
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2023年第9期76-82,共7页
Transactions of the Chinese Society of Agricultural Engineering
基金
国家自然科学基金项目(51375145)
拖拉机动力系统国家重点实验室开放课题(SKT2021005)。
关键词
液压机械
传动
控制
换段离合器
前馈补偿
hydraulic-mechanical
transmission
control
shifting clutch
feedforward compensation
