High pressure automatic variables backstepping for the variable pump driving variable motor system
首发时间:2012-12-12
Abstract:The variable pump driving variable motor (VPDVM) is the future development trend for the hydraulic transmission. VPDVM is a dual-input single-output nonlinear system with coupling, which is difficult to control. A novel control algorithm, high pressure automatic variables backstepping (HABS), is proposed to achieve the desired motor speed. First, the VPDVM nonlinear mathematic model is established, which is then linearized by the feedback linearization theory, and the VPDVM zero-dynamic stability was proved. Secondly, the HABS control algorithm was proposed for VPDVM, in which the variable motor is controlled by high pressure automatic variables (HA) and the variable pump is controlled by backstepping. Next, the stability of the VPDVM controlled by HABS is proved based on the Lyapunov theorem. Finally, numerical simulations of the VPDVM demonstrate the feasibility and strong robustness of the HABS proposed.
keywords: hydraulic nonlinear HA backstepping
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变量泵驱动变量马达系统高压自动变量Backstepping控制
摘要:变量泵驱动变量马达系统(Variable pump driving variable motor,VPDVM)是双输入单输出耦合非线性系统,传统控制方法很难实现其快速响应,为此提出高压自动变量(High pressure automatic variables,HA)Backstepping(BS)控制算法(HABS)。首先建立VPDVM的非线性数学模型;其次对数学模型线性化,并进行零动态分析;接着提出变量马达采用HA控制、变量泵采用BS控制的HABS算法实现VPDVM控制,并基于Lyapunov理论证明算法稳定性;最后进行仿真验证。仿真结果表明,HABS算法可以实现VPDVM快速控制,而且算法具有较强鲁棒性。
关键词: 液压 非线性 高压自动变量 Backstepping控制
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