Research on Tracking Control of Hydraulic Hybrid System of Excavator
Because of the uncertainty of parameters of hybrid power system and the nonlinearity of the system,the tracking con-trol of excavator is very difficult.The hydraulic hybrid power system model of excavator is built,and the improved adaptive robust control(ARC)is adopted to realize the tracking control of the hydraulic hybrid power system of excavator.According to the hy-draulic hybrid system of excavator,the mathematical modeling of hydraulic system,excavator dynamics and engine is carried out.By using the linear stable feedback control law and adopting the improved adaptive robust control,the hydraulic hybrid power system of excavator has enough feedback gain.In the end,the tracking simulation experiment of the dip Angle of the bucket lever,moving arm and bucket is carried out,the tracking error of the system model position and velocity is given,and compared with PI control.The results show that,compared with PI control,the maximum amplitude fluctuation rate and fluctuation range of dip Angle of bucket bar,moving arm and bucket under ARC control are reduced,and the tracking error overshoot of rotation position and speed is smaller.It shows that the ARC control method of excavator hybrid power system can better compensate the nonlinearity of the system model,and has better control stability and tracking precision.
ExcavatorHydraulic Hybrid Power SystemThe ARC ControlControl StabilityTracking Accuracy
NETL
NSTL
万方数据
维普
