摘要
为研究混合动力挖掘机轴系扭振并尽可能消除其影响,分析动力轴系扭振的原因,提出对轴系主动控制的方法。在三自由度系统Lagrange函数和耗散函数中引入电动机的气隙磁场能,得到动力轴系和异步电机的机电耦合数学模型,建立基于AME Sim-Simulink的多动力源复杂轴系扭振仿真模型;以电机转矩为控制变量,以液压泵负载为干扰量,以扭振最小为控制目标,应用2阶模糊PID控制分别对阶跃负载和6 t混合动力挖掘机实际工况负载进行仿真计算。通过分别对比控制前后轴系转动速度、扭振情况以及扭转角大小,可以看到采用主动控制方式可以使轴系转动速度密切跟踪给定转速曲线,同时显著减小轴系扭转振动,降低扭转角的波动,快速达到稳定状态,结果表明通过模糊PID进行主动控制可以有效地改善混合动力系统轴系扭振情况。
Torsional vibrations of the shafting system of hybrid excavators often have some poor effects. In this paper,the reasons of torsional vibration of electromechanical couplings are analyzed and a method of active control of shafting systems is put forward. Mathematical model of a power shafting system is studied. On this basis, torsional vibration of a complex multi-power sourced shafting system is modeled by AMESim-Simulink. Simulation of the shafting system under step load and actual operating load of a 6 t hybrid excavator is conducted by employing the fuzzy PID control with the torques of the motor as the control variable, the torques of the hydraulic pump as the disturbance variable, and the motor speed as the control objective. Rotational velocity, torsional conditions and torsional angles of the shafting system before and after the control are compared. Results show that through the method of active control, the rotational velocity of the shafting system can closely follow the given rotational speed curve, and the torsional vibration of the shafting and the fluctuation of the torsional angle can be significantly reduced, which means that the torsional vibration of the shafting of the hybrid power system can be effectively improved through the active control by employing fuzzy PID.
作者
张贝贝
刘少军
胡琼
ZHANG Bei-bei;LIU Shao-jun;HU Qiong(School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China)
出处
《噪声与振动控制》
CSCD
2016年第4期97-102,共6页
Noise and Vibration Control
基金
国家自然科学基金青年资助项目(51205415)
湖南省自然科学基金资助项目(14JJ3020)
湖南省高校科技创新团队支持计划资助项目(湘教通〔2014〕207号)
关键词
振动与波
混合动力挖掘机
动力轴系
扭转振动
主动控制
模糊PID控制
vibration and wave
hybrid excavator
power shafting system
torsional vibration, active control
fuzzy PID control
