装载机线控转向系统路感反馈系统的设计与仿真

 陈益,袁成,冯艳明

(四川大学 制造科学与工程学院,四川 成都 610065)
摘要:针对路感反馈系统的控制目标,提出采用双闭环的控制策略,内环采用PI控制器控制路感电机电流,减小电机输出转矩的波动,外环采用了模糊自适应PID控制器控制方向盘转矩,保证反馈力矩的柔顺性并降低干扰带来的影响,重点对模糊自适应PID控制器的设计过程进行了阐述。最后,借助MATLAB软件对路感反馈系统进行了仿真验证,比较了系统分别使用常规PID控制器与模糊自适应PID控制器的响应特性,结果表明,使用模糊自适应PID控制器的系统超调量更小、响应时间更短、受干扰影响更小。
关键词:路感反馈系统;模糊自适应PID控制;控制器设计;MATLAB
中图分类号:TH243 文献标志码:A doi:10.3969/j.issn.1006-0316.2015.07.002
文章编号:1006-0316 (2015) 07-0005-06
The design and simulation of road feeling feedback system for wheel loader steer-by-wire System
CHEN Yi,YUAN Cheng,FENG Yanming
( Manufacturing Engineering and Science School, Sichuan University, Chengdu 610065, China )
Abstract:A road feeling feedback subsystem dynamics model is proposed. Against the control objectives of road feeling feedback system, a double-loop control strategy is used in this paper, the inner loop used PI controller to control the motor current, reduce the fluctuation of motor torque, the outer loop used fuzzy adaptive PID controller to control the torque of steering wheel, to ensure torque feedback gently and reduce interference caused by the external interference, described the design process of fuzzy adaptive PID controller in detail. The simulation results showed that the system used fuzzy adaptive PID controller had smaller overshoot, shorter response time and slighter affected by interference.
Key words:feeling feedback system;fuzzy adaptive PID control;the design of controller;MATLAB
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收稿日期:2015-01-21
基金项目:国家自然科学基金(0030205401024)
作者简介:陈益(1990-),男,四川南充人,硕士研究生,主要研究方向为工程机械线控转向系统;袁成(1989-),男,重庆人,硕士研究生,主要研究方向为混合动力工程机械;冯艳明(1987-),男,山西吕梁人,硕士研究生,主要研究方向为工程机械换挡操纵阀。
 

 

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