摘要
针对双侧电传动履带推土机在剧烈变化的地面负载下转向时,其转速控制策略难以保证稳定转向的问题,提出了动态高型控制策略.在转速控制的基础上,动态地增加系统的积分环节,同时增大系统的速度误差系数和加速度误差系数,加快误差收敛速度,并保证推土机行驶速度以及转向角速度实时高精度地跟随目标值,从而确保电传动推土机的稳定转向.仿真结果表明,动态高型控制策略适用于双侧电传动推土机稳定转向的控制过程,且其控制性能优于转速控制策略,是一种简单有效的控制策略.
Pertaining to the bilateral electric-driven bulldozers whilst steering under dramatically-changed ground loading,the existing rotary speed control strategies cannot guarantee the steering stability.By dynamically adding system integral parts,increasing speed and acceleration error coefficients and enhancing error convergence speed,the real-time and high-precision properties of bulldozer driving and steering angular speeds are guaranteed to track the target values.Therefore,it is indicated that the high-degree dynamic control strategy,a simple and effective strategy,can be adapted to control process with higher control performance.
出处
《中国工程机械学报》
北大核心
2015年第2期103-108,157,共7页
Chinese Journal of Construction Machinery
基金
国家"十二五"科技支撑计划(2011BAG04B00)
关键词
电传动
转向稳定性
动态高型
electric driving
steering stability
high-degree dynamicity
