负载口独立控制系统非线性滤波振动抑制方法

程敏; 侯严迪; 丁孺琦

doi:10.7652/xjtuxb202404019

您当前的位置：

首页 >

文章列表页 >

负载口独立控制系统非线性滤波振动抑制方法

—————————————————————— | 更新时间：2025-07-09

- 负载口独立控制系统非线性滤波振动抑制方法
- A Nonlinear Filtering Method of Vibration Suppression for the Independent Metering Control System
- 西安交通大学学报 2024年58卷第4期页码：200-211
- 作者机构：
  
  1. 重庆大学高端装备机械传动全国重点实验室,重庆,400044
  2. 华东交通大学载运工具与装备教育部重点实验室,南昌,330013
- 作者简介：
  
  : 2023-06-14。作者简介: 程敏(1987—),男,教授,博士生导师。基金项目: 国家重点研发计划资助项目(2020YFB2009702)
- 基金信息：
  
  : 2023-06-14。作者简介: 程敏(1987—),男,教授,博士生导师。基金项目: 国家重点研发计划资助项目(2020YFB2009702);国家自然科学基金资助项目(52075055);工信部战略基础产品资助项目(TC220H064)
- DOI：10.7652/xjtuxb202404019
  中图分类号： TH137
- 网络首发：2024-04-10，
  
  纸质出版：2024
- 稿件说明：
移动端阅览
程敏, 侯严迪, 丁孺琦. 负载口独立控制系统非线性滤波振动抑制方法[J]. 西安交通大学学报, 2024,58(4):200-211.

CHENG Min, HOU Yandi, DING Ruqi. A Nonlinear Filtering Method of Vibration Suppression for the Independent Metering Control System[J]. 2024, 58(4): 200-211.
程敏, 侯严迪, 丁孺琦. 负载口独立控制系统非线性滤波振动抑制方法[J]. 西安交通大学学报, 2024,58(4):200-211. DOI： 10.7652/xjtuxb202404019.

CHENG Min, HOU Yandi, DING Ruqi. A Nonlinear Filtering Method of Vibration Suppression for the Independent Metering Control System[J]. 2024, 58(4): 200-211. DOI： 10.7652/xjtuxb202404019.

摘要

针对负载口独立控制系统在作业过程中时常因控制信号突变而造成执行器速度振荡及液压缸两腔压力波动

从而导致操作舒适性和机器可靠性降低甚至引发安全事故的问题

首先

分析了负载口独立控制系统压力流量复合控制策略以及传统阻尼补偿方法抑振的局限性

阐明了引发速度振荡与压力波动的原因; 然后

基于该控制系统

提出了采用非线性滤波器修改突变控制信号的抑振方法

并给出了非线性滤波器的边界选取原则; 最后

设计了负载口独立控制系统的进出口阀控制器

通过修改参考流量信号

降低了不同突变信号对执行器速度带来的影响。基于20 t挖掘机负载口独立控制系统开展数值仿真

结果表明:相较于传统阻尼补偿方法

采用所提方法能够有效降低阶跃、斜坡信号引起的执行器速度振荡与压力波动

且在动臂液压缸全伸、全缩典型工况下压力波动较小

并使速度振荡降低了32.5%～64.7%

从而有效改善了系统的动态特性。

Abstract

The independent metering control system often triggers oscillations between the actuator speed and the pressure in the two chambers of the hydraulic cylinder due to abrupt changes in the control signal during operation

thus leading to the reduction of operating comfort and machine reliability and even causing safety accidents. To address this problem

initially

the limitations of the pressure-flow composite control strategy of the independent metering control system as well as the vibration suppression of the traditional damping compensation method are analyzed

and the causes of velocity oscillations and pressure fluctuations are elucidated. Subsequently

based on this system

a vibration suppression method using the nonlinear filter for mutation control signal modification is proposed

and the boundary selection principle of the nonlinear filter is given. Ultimately

the inlet and outlet valve controllers of the independent metering control system are designed

and the effects of different mutation signals on the actuator speed are reduced through the reference flow signal modification. Numerical simulation is carried out based on the independent metering control system of a 20-ton excavator. The results indicate that compared with the traditional damping compensation method

the proposed method can effectively reduce the actuator speed oscillation and pressure fluctuation caused by step and ramp signals; the pressure fluctuation is small under typical working conditions featuring the full extension and full retraction of the movable arm's hydraulic cylinder; and the speed oscillation is reduced by 32.5% to 64.7%. Under such circumstances

the dynamic characteristics of the system are effectively improved.

关键词

Keywords

references

陈源流, 王安麟, 李晓田. 挖掘机多路阀的载荷分类设计 [J]. 西安交通大学学报, 2020, 54(9): 100-108.

CHEN Yuanliu, WANG Anlin, LI Xiaotian. Load classification design of excavator multiway valve [J]. Journal of Xi'an Jiaotong University, 2020, 54(9): 100-108.

吕立彤, 陈正, 姚斌. 并联式泵阀协调电液系统:对比分析与运动控制 [J]. 机械工程学报, 2022, 58(10): 136-151.

LÜ Litong, CHEN Zheng, YAO Bin. Parallel-connected pump-valves coordinated electro-hydraulic system: comparative study and motion control [J]. Journal of Mechanical Engineering, 2022, 58(10): 136-151.

王友定, 刘凯磊, 康绍鹏, 等. 基于负载口独立控制的挖掘机动臂系统节能研究 [J]. 机床与液压, 2023, 51(7): 164-170.

WANG Youding, LIU Kailei, KANG Shaopeng, et al. Research on energy-saving of excavator boom system based on independent metering control [J]. Machine Tool Hydraulics, 2023, 51(7): 164-170.

ABUOWDA K, OKHOTNIKOV I, NOROOZI S, et al. A review of electrohydraulic independent metering technology [J]. ISA Transactions, 2020, 98: 364-381.

梁涛, 张晓刚, 权龙, 等. 泵阀双源协同驱动多执行器系统特性研究 [J]. 西安交通大学学报, 2022, 56(3): 1-11.

LIANG Tao, ZHANG Xiaogang, QUAN Long, et al. Characteristics of pump and valve dual-source collaborative driving multi-actuator system [J]. Journal of Xi'an Jiaotong University, 2022, 56(3): 1-11.

陶扬, 刘凯磊, 康绍鹏, 等. 负载口独立控制系统主被动加载试验台振动特性分析 [J]. 液压与气动, 2022, 46(6): 63-71.

TAO Yang, LIU Kailei, KANG Shaopeng, et al. Vibration characteristics analysis of active and passive loading test bench for independent metering control system [J]. Chinese Hydraulics Pneumatics, 2022, 46(6): 63-71.

LI Chen, LYU Litong, HELIAN Bobo, et al. Precision motion control of an independent metering hydraulic system with nonlinear flow modeling and compensation [J]. IEEE Transactions on Industrial Electronics, 2022, 69(7): 7088-7098.

LI Chen, CHEN Zheng, YAO Bin, et al. Motion control of an independent metering system with polynomial approximations for valve flow nonlinearity [C]//BATH/ASME 2020 Symposium on Fluid Power and Motion Control. New York, USA: ASME, 2020: V001T01A004.

HU Shuang, WANG Lihang, LI Yongquan, et al. Variable universe fuzzy controller for an independent metering system of construction machinery [J]. Processes, 2023, 11(3): 901.

RATH G, ZAEV E, STOJANOSKI G, et al. Design of pressure control for optimal damping in individual metering systems [C]//Proceedings of the 17th Scandinavian International Conference on Fluid Power. Linköping, Sweden: Linköping University Electronic Press, 2021: 252-261.

CHENG Min, XU Bing, ZHANG Junhui, et al. Pump-based compensation for dynamic improvement of the electrohydraulic flow matching system [J]. IEEE Transactions on Industrial Electronics, 2017, 64(4): 2903-2913.

MADAU R, VACCA A. An active oscillation reduction method for off-highway front loaders [J]. Proceedings of the Institution of Mechanical Engineers: Part I Journal of Systems and Control Engineering, 2023, 237(6): 1015-1031.

ALEXANDER A, VACCA A, CRISTOFORI D. Active vibration damping in hydraulic construction machinery [J]. Procedia Engineering, 2017, 176: 514-528.

丁孺琦, 江来, 李刚, 等. 电液负载敏感负载口独立多模式切换控制能效研究 [J]. 农业机械学报, 2021, 52(12): 433-442.

DING Ruqi, JIANG Lai, LI Gang, et al. Energy efficiency of electro-hydraulic load sensing independent metering multi-mode switching control system [J]. Transactions of the Chinese Society for Agricultural Machinery, 2021, 52(12): 433-442.

AXIN M, KRUS P. Design rules for high damping in mobile hydraulic systems [C]//13th Scandinavian International Conference on Fluid Power. Linköping, Sweden: Linköping University Electronic Press, 2013: 13-20.

RAHMFELD R, IVANTYSYNOVA M. An overview about active oscillation damping of mobile machine structure [J]. International Journal of Fluid Power, 2004, 5(2): 5-24.

PADOVANI D. Adding active damping to Energy-efficient electro-hydraulic systems for robotic manipulators—comparing pressure and acceleration feedback [C]//2020 5th International Conference on Robotics and Automation Engineering(ICRAE). Piscataway, NJ, USA: IEEE, 2020: 175-181.

QU S, ASSAF H, VACCA A, et al. Pressure feedback control of electro-hydraulic actuators using fixed displacement hydraulic machines [C]//2022 IEEE Global Fluid Power Society PhD Symposium. Piscataway, NJ, USA: IEEE, 2022: 1570819101.

PEDERSEN H C, ANDERSEN T O. Pressure feedback in fluid power systems: active damping explained and exemplified [J]. IEEE Transactions on Control Systems Technology, 2018, 26(1): 102-113.

CHENG Min, LUO Shaqi, ZHANG Junhui, et al. Comparison of acceleration control and pressure feedback for active damping improvement of hydraulic manipulators [C]//2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM). Piscataway, NJ, USA: IEEE, 2019: 1098-1103.

DING Ruqi, XU Bing, ZHANG Junhui, et al. Self-tuning pressure-feedback control by Pole placement for vibration reduction of excavator with independent metering fluid power system [J]. Mechanical Systems and Signal Processing, 2017, 92: 86-106.

JOSE J T, DAS J, MISHRA S K. Dynamic improvement of hydraulic excavator using pressure feedback and gain scheduled model predictive control [J]. IEEE Sensors Journal, 2021, 21(17): 18526-18534.

CHENG Min, LUO Shaqi, DING Ruqi, et al. Dynamic impact of hydraulic systems using pressure feedback for active damping [J]. Applied Mathematical Modelling, 2021, 89: 454-469.

崔宁, 秦四成, 赵丁选. 液压挖掘机并联混合节能动力系统多目标优化控制策略 [J]. 西安交通大学学报, 2016, 50(6): 116-121.

CUI Ning, QIN Sicheng, ZHAO Dingxuan. A multi-object optimal control strategy for a parallel hybrid power system in hydraulic excavators [J]. Journal of Xi'an Jiaotong University, 2016, 50(6): 116-121.

GERELLI O, LO BIANCO C G. Nonlinear variable structure filter for the online trajectory scaling [J]. IEEE Transactions on Industrial Electronics, 2009, 56(10): 3921-3930.

HELIAN Bobo, WYDRA M, GEIMER M. Constrained motion control of an independent metering system with uncertain loads [J]. Actuators, 2023, 12(8): 304.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

考虑时频特性的点对点高速低振动运动规划方法研究

局域共振弹性超材料梁禁带宽度的拓宽方法

可控磁悬浮系统的转子周期性振动抑制

不同板叠材料热声热机能量转换过程数值模拟研究

冷库水平空气幕热湿阻隔性能数值模拟研究