概念喷雾机底盘双侧液压马达自抗扰同步控制研究

针对复杂农林环境下植保喷雾作业对底盘智能化、柔性化等的需求问题,采用双侧液压马达同步回转系统数学模型分析法和外层自抗扰控制,内层PID协调控制的同步控制策略,提出一种液压直驱的概念喷雾机底盘,以离散化形式设计了3阶自抗扰控制器,并对双侧液压马达同步控制问题进行研究。通过SIMULINK仿真和试验台试验,结果表明:1)所制定的自抗扰同步控制策略相比传统的PID控制,系统响应更快速,其上升时间为1.2s,稳定时间3s;2)扰动工况下的双马达同步控制误差更低,其中,在马达2内部参数摄动下,双马达的试验同步误差峰值仅为-0.016rad,同步控制精度高于0.060%,而采用PID控制,双马达同步误差峰值可达-0.850rad,同步控制精度低于2.000%;3)自抗扰同步控制器具有更高的控制精度和扰动误差补偿能力,能满足喷雾机底盘直线行驶需求。该研究可为复杂农林环境下作业的行走机械底盘设计和液压系统同步控制提供理论参考。

Study of auto disturbance rejection synchronous control for bilateral hydraulic motor of concept sprayer chassis

A concept sprayer chassis of hydraulic direct drive was put forwarded in order to meet the intelligent and flexible needs of plant protection spraying operation under complex agricultural and forestry environments.The mathematical model of the synchronous rotating system of the bilateral hydraulic motor was established.Synchronization control strategy of the outer active disturbance rejection controller separate control and the inner PID coordinated control was developed.A three order auto disturbance rejection controller was designed in the form of discretization and the synchronous control of the bilateral hydraulic motor was studied.SIMULINK simulation and test bench experiments were conducted.The results showed that:The active disturbance rejection synchronous control had more rapid response compared to the traditional PID control.The rising time was 1.2 s and the setting time was 3 s.The bilateral hydraulic motor synchronous control error was lower under disturbance condition.The peak value of the bilateral motor synchronization error was only -0.016 rad and the synchronous control precision were higher than 0.060% under the internal parameters perturbation of the motor 2.The peak value of the bilateral motor synchronization error could reach -0.850 rad and the synchronization control precision was less than 2.000% with the PID control.It was showed that the auto disturbance rejection synchronous controller had higher control precision and disturbance error compensation ability,which could satisfy the requirement of the straight line driving of sprayer chassis.Theoretical reference was provided in this study for the design of the walking machine chassis and hydraulic synchronous control system in complex agricultural and forestry environments.