拖拉机线控液压转向系统的双通道PID控制仿真与试验

拖拉机线控液压转向系统采用的单杆液压缸具有非对称性,为了提高转向系统的控制精度,提出了双通道PID（proportional integral derivative）控制方法,对液压缸活塞杆伸出和缩回的运动进行分通道控制。基于Sim Hydraulics模块建立线控液压转向系统的物理模型,对转向轮的跟随响应、阶跃响应进行仿真试验;同时搭建了线控液压转向系统试验台,进行台架试验,从而分析双通道PID控制对转向系统的影响。仿真试验得出双通道PID控制的跟随误差为0.473°、响应时间为0.273 s,且左、右转向跟随误差基本一致,均优于单通道PID控制,台架试验结果与仿真试验的效果一致。结果表明,...

Full description

Saved in:
Bibliographic Details
Published in农业工程学报 Vol. 32; no. 6; pp. 101 - 106
Main Author 鲁植雄 龚佳慧 鲁杨 刁秀永 程准 姜春霞 周晶
Format Journal Article
LanguageChinese
Published 南京农业大学工学院,南京,210031 2016
Subjects
Hydraulics
PID控制
Sim
农业机械
双通道
拖拉机
线控液压转向
dual channel
tractors
agriculture machinery
hydraulic steering-by-wire
拖拉机
双通道
线控液压转向
SimHydraulics
PID control
农业机械
PID控制
Online AccessGet full text
ISSN1002-6819
DOI10.11975/j.issn.1002-6819.2016.06.014

Cover

More Information
Summary:拖拉机线控液压转向系统采用的单杆液压缸具有非对称性,为了提高转向系统的控制精度,提出了双通道PID（proportional integral derivative）控制方法,对液压缸活塞杆伸出和缩回的运动进行分通道控制。基于Sim Hydraulics模块建立线控液压转向系统的物理模型,对转向轮的跟随响应、阶跃响应进行仿真试验;同时搭建了线控液压转向系统试验台,进行台架试验,从而分析双通道PID控制对转向系统的影响。仿真试验得出双通道PID控制的跟随误差为0.473°、响应时间为0.273 s,且左、右转向跟随误差基本一致,均优于单通道PID控制,台架试验结果与仿真试验的效果一致。结果表明,线控液压转向系统在双通道PID控制下响应快,跟随误差更小,具有良好的跟随性和较高的控制精度。
Bibliography:The hydraulic steering-by-wire system abandons the mechanical connection between hand-wheel and front steering wheels, and thus the driver′ s intent is delivered via electrical signal. The actuator of hydraulic steering-by-wire system is the hydraulic cylinder. ECU（electronic control unit） generates the corresponding electric current to control the opening of electro-hydraulic proportional servo valve after receiving the steering signal, which correspondingly leads to the displacement of steering hydraulic cylinder. The displacement direction determines the steering direction and the magnitude determines the steering angle. At present, asymmetric hydraulic cylinders are mostly adopted. However, due to the piston areas are varied as the piston rod moves in different directions, even if the opening of electro-hydraulic proportional servo valve and the pressure are fixed, the displacements of the piston rod vary under stretch and retracting condition. Combining hydraulic steering-by-wire system with asymmetric h
ISSN:1002-6819
DOI:10.11975/j.issn.1002-6819.2016.06.014