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基于自适应模型预测的挖掘机轨迹跟踪控制方法
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作者 周恭喜 李仕江 +1 位作者 侯亮 卜祥建 《机电工程》 北大核心 2025年第10期1851-1863,共13页
在挖掘机作业过程中,由于复杂的工作环境、液压系统强非线性的特性以及外部负载的波动,会导致挖掘机轨迹跟踪精度变差且系统变得不稳定。针对这些问题,提出了一种基于递推最小二乘法(RLS)的自适应模型预测轨迹跟踪控制方法(RLS-MPC)。首... 在挖掘机作业过程中,由于复杂的工作环境、液压系统强非线性的特性以及外部负载的波动,会导致挖掘机轨迹跟踪精度变差且系统变得不稳定。针对这些问题,提出了一种基于递推最小二乘法(RLS)的自适应模型预测轨迹跟踪控制方法(RLS-MPC)。首先,建立了挖掘机的运动学模型和液压系统数学模型;然后,将构建的系统数学模型转化为状态空间方程的形式,设计了模型预测控制器(MPC)和RLS自适应模块,使用RLS在线估计了系统参数,实时更新了MPC预测模型;最后,采用MATLAB/Simulink构建了系统仿真模型,在有、无干扰工况下进行了仿真分析;并搭建了实车实验平台,开展了场地试验,测试了空载实验和挖掘实验下的挖掘机轨迹跟踪性能。研究结果表明:RLS-MPC实验收敛速度比PID和MPC提高了6.5%与5.6%;实验稳态误差达到了0.0001 m;在面对负载突变时,整个作业过程的误差都维持在厘米级,且遭受冲击后恢复时间最短。这充分证明了RLS-MPC能够显著提升其响应速度、轨迹跟踪精度以及抗干扰能力,在面对外部干扰和系统不确定性时具有更强的鲁棒性。 展开更多
关键词 工程机械 自适应控制 液压系统数学模型 递推最小二乘法 模型预测控制 轨迹跟踪 鲁棒性
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Modeling and parameter estimation for hydraulic system of excavator's arm 被引量:9
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作者 何清华 郝鹏 张大庆 《Journal of Central South University of Technology》 2008年第3期382-386,共5页
A retrofitted electro-hydraulic proportional system for hydraulic excavator was introduced firstly. According to the principle and characteristic of load independent flow distribution(LUDV) system,taking boom hydrauli... A retrofitted electro-hydraulic proportional system for hydraulic excavator was introduced firstly. According to the principle and characteristic of load independent flow distribution(LUDV) system,taking boom hydraulic system as an example and ignoring the leakage of hydraulic cylinder and the mass of oil in it,a force equilibrium equation and a continuous equation of hydraulic cylinder were set up. Based on the flow equation of electro-hydraulic proportional valve,the pressure passing through the valve and the difference of pressure were tested and analyzed. The results show that the difference of pressure does not change with load,and it approximates to 2.0 MPa. And then,assume the flow across the valve is directly proportional to spool displacement and is not influenced by load,a simplified model of electro-hydraulic system was put forward. At the same time,by analyzing the structure and load-bearing of boom instrument,and combining moment equivalent equation of manipulator with rotating law,the estimation methods and equations for such parameters as equivalent mass and bearing force of hydraulic cylinder were set up. Finally,the step response of flow of boom cylinder was tested when the electro-hydraulic proportional valve was controlled by the step current. Based on the experiment curve,the flow gain coefficient of valve is identified as 2.825×10-4 m3/(s·A) and the model is verified. 展开更多
关键词 EXCAVATOR electro-hydraulic proportional system load independent flow distribution(LUDV) system MODELING parameter estimation
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Design and application of electric oil pump in automatic transmission for efficiency improvement and start–stop function 被引量:1
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作者 刘艳芳 董鹏 +1 位作者 刘洋 徐向阳 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第3期570-580,共11页
For the purpose of improving efficiency and realizing start–stop function, an electric oil pump(EOP) is integrated into an 8-speed automatic transmission(AT). A mathematical model is built to calculate the transmissi... For the purpose of improving efficiency and realizing start–stop function, an electric oil pump(EOP) is integrated into an 8-speed automatic transmission(AT). A mathematical model is built to calculate the transmission power loss and the hydraulic system leakage. Based on this model, a flow-based control strategy is developed for EOP to satisfy the system flow requirement. This control strategy is verified through the forward driving simulation. The results indicate that there is a best combination for the size of mechanical oil pump(MOP) and EOP in terms of minimum energy consumption. In order to get a quick and smooth starting process, control strategies of the EOP and the on-coming clutch are proposed. The test environment on a prototype vehicle is built to verify the feasibility of the integrated EOP and its control strategies. The results show that the selected EOP can satisfy the flow requirement and a quick and smooth starting performance is achieved in the start–stop function. This research has a high value for the forward design of EOP in automatic transmissions with respect to efficiency improvement and start–stop function. 展开更多
关键词 automatic transmission electric oil pump mechanical oil pump start-stop function efficiency improvement forwarddriving simulation control strategy
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