摘要
针对轮式农业机械的线控液压转向系统的控制包括转向轮转角控制与路感模拟控制两部分,系统控制的协调性非常重要。分析了两部分控制间的耦合关系以及双向控制理论;提出一种融合位置与力矩信息的力矩反馈-位置差型控制方法,根据转向轮的目标转角(转向轮的目标转角由转向盘转角与角传动比理论计算得到)与转向轮实际转角的差值控制路感电机,同时根据驾驶员的作用力矩控制电液比例伺服以驱动转向,并完成了台架试验。结果表明:转向盘在不同初始角度下的回正时间约为0.5s,转向阶跃响应稳态误差为0.231°,响应时间为2.265s,正弦跟随误差不大于1.401°,随机输入下的跟随误差不大于4.492°,但在转向盘转向改变时,误差达12.376°,持续时间约0.15s。
Hydraulic steer-by-wire system included steering control and road-feeling generation control,the coordination of the system was very important.The paper analyzed the coupling connection of the two control parts,also the theory of bilateral control system,then a kind control method called torque feedback-positional difference type control method was proposed,which combined position and torque informations.In this control method,the control signals of road-feeling motor were determined by differences between target road wheel angles and practical road wheel angles.Steering wheel angle divided by transmission ratio was target road wheel angle.In addition,the control signals of electron hydraulic proportional servo valve were determined by drivers＇torque,and the bench tests were finished.The results show that the steering reversal time is as 0.5s,the difference of step response is as 0.231°and response time is as 2.265 s,the sine response difference is below 1.401°,and random input difference is smaller than 4.492°,but when steering orientation changes,the difference is up to 12.376° with continuous time of 0.15 s.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2016年第10期1404-1407,1419,共5页
China Mechanical Engineering
基金
江苏省科技支撑计划资助项目(BE2012384)
江苏省科技成果转化专项资金资助项目(BA2010055)
关键词
农业机械
线控液压转向
双向控制
台架试验
转向特性
agricultural machinery
hydraulic steer-by-wire
bilateral control
bench test
steering characteristic
