多轴车辆轮桥加载试验台的解耦控制实验研究
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摘要
为研究多轴车辆轮边和传动桥的工作特性和可靠性,模拟四轴车辆的实际工况,基于二次调节技术试制轮桥模拟加载试验台。针对轮桥试验台驱动转速和输出转矩存在的耦合干扰问题,建立系统传递函数并求解出传递函数之间的对角矩阵,利用对角矩阵对系统进行解耦控制,通过轮桥模拟加载试验台进行耦合干扰实验及解耦控制实验。研究结果表明:通过对角矩阵对试验台进行解耦控制,能有效解决驱动转速和输出转矩之间的耦合干扰问题,本实验中驱动转速误差减小78%,二次输出转矩误差减小67%,轮边输出转矩误差减小29%,解耦后提高了试验台可控性,可使试验台满足车辆轮桥的动态模拟加载实验的需求,研究结果可为此类轮桥试验台的设计及模拟加载实验提供一定的实验基础。
In order to study the working characteristics and reliability of multiaxial vehicles' wheel-bridge, the actual working conditions of the four-axle vehicle were simulated and the wheel-bridge simulated loading test bench was established based on the secondary regulation technology. In view of the coupled interference problem between the driving speed and output torque of wheel-bridge test bench, the system transfer function was established, and the diagonal matrix between the transfer functions was solved. The diagonal matrix was used to decoupling the system and the coupled interference experiment and decoupling control experiment were carried out by the wheel-bridge test bench. The results show that the decoupling control of the test bench by the diagonal matrix can effectively solve the coupled interference problem between the driving speed and the output torque. In this test, the drive speed error is reduced by 78%, the secondary output torque error is reduced by 67% and the wheel side output torque is reduced by 29%. The test bench has better controllability by using diagonal matrix decoupling control, and it can meet the demand of vehicle wheel-bridge dynamic simulation loading experiment. The results can provide a certain experimental basis for the design of this kind of wheel bridge test bench and the simulated loading experiment.
In order to study the working characteristics and reliability of multiaxial vehicles' wheel-bridge, the actual working conditions of the four-axle vehicle were simulated and the wheel-bridge simulated loading test bench was established based on the secondary regulation technology. In view of the coupled interference problem between the driving speed and output torque of wheel-bridge test bench, the system transfer function was established, and the diagonal matrix between the transfer functions was solved. The diagonal matrix was used to decoupling the system and the coupled interference experiment and decoupling control experiment were carried out by the wheel-bridge test bench. The results show that the decoupling control of the test bench by the diagonal matrix can effectively solve the coupled interference problem between the driving speed and the output torque. In this test, the drive speed error is reduced by 78%, the secondary output torque error is reduced by 67% and the wheel side output torque is reduced by 29%. The test bench has better controllability by using diagonal matrix decoupling control, and it can meet the demand of vehicle wheel-bridge dynamic simulation loading experiment. The results can provide a certain experimental basis for the design of this kind of wheel bridge test bench and the simulated loading experiment.
引文
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[19]姚树新,孔燕.二次调节静液传动系统的技术研究[J].流体传动与控制,2014(3):31-33.YAO Shuxin,KONG Yan.Research on hydrostatic transmission technology in secondary regulation[J].Fluid Power Transmission&Control,2014(3):31-33.
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[21]LI Mingxing,JIA Yinmin.Decoupling and robust control of velocity-varying four-wheel steering vehicles with uncertainties via solving attenuating diagonal decoupling problem[J].Journal of the Franklin Institute,2017,354(1):105-122.
[2]HO T H,KYOUNG K A.Speed control of a hydraulic pressure coupling drive using an adaptive fuzzy sliding-mode control[J].IEEE/ASME Transactions on Mechatronics,2012,17(5):976-986.
[3]HAN S B,CHANG Y H,CHUNG Y J,et al.Fuel economy comparison of conventional drive trains series and parallel hybrid electric step vans[J].International Journal of Automotive Technology,2009,10(2):235-240.
[4]章德平,莫易敏,赵木青.汽车驱动桥传动效率试验台的研制及测试[J].中国机械工程,2014,25(12):1699-1703.ZHANG Deping,MO Yimin,ZHAO Muqing.Development and testing bench for transmission efficiency of automobile drive axle[J].China Mechanical Engineering,2014,25(12):1699-1703.
[5]占锐,程华国,李俊,等.重型汽车驱动桥传动效率试验台及方法研究[J].机械传动,2017,41(3):197-202.ZHAN Rui,CHENG Huaguo,LI Jun,et al.Research of the method and test bench of drive Axle transmission efficiency for heavy vehicle[J].Journal of Mechanical Transmission,2017,41(3):197-202.
[6]ZHAO Zhiguo,LEI Dan,Chen Jiayi,et al.Optimal control of mode transition for four-wheel-drive hybrid electric vehicle with dry dual-clutch transmission[J].Mechanical Systems and Signal Processing,2018,105:68-89.
[7]卓娅.基于PLC的电封闭式汽车变速器疲劳寿命试验台设计与应用[D].重庆:重庆大学机械工程学院,2015:12-14.ZHUO Ya.The design and application of electrically closed transmission fatigue life test platform based on PLC[D].Chongqing:Chongqing University.College of Mechanical and Engineering,2015:12-14.
[8]ZANG Faye,YONG Wang,YANG Renming.Robust control for a class of secondary regulation rotate speed systems via hamiltonian function method[J].Journal of Intelligent&Fuzzy Systems,2017,32(1):991-997.
[9]SHEN Wei,JIANG Jihai.Analysis and development of the hydraulic secondary regulation system based on the CPR[C]//2011 International Conference on Fluid Power and Mechatronics(FPM).Beijing,2011:117-122.
[10]王海飞,姚树新,曹蕾蕾,等.工程机械发动机动态加载试验装置[J].中国公路学报,2014,27(14):1953-1959.WANG Haifei,YAO Shuxin,CAO Leilei,et al.Test device of construction machinery engines under dynamic loading[J].China Journal of Highway and Transport,2014,27(14):1953-1959.
[11]HO T H,KYOUNG K A.Modeling and simulation of hydrostatic transmission system with energy regeneration using hydraulic accumulator[J].Journal of mechanical science and technology,2010,24(5):1163-1175.
[12]ZANG Faye,YONG Wang.Fuzzy-neural network control on secondary hydraulic transmission system[C]//Advanced Materials Research.Qingdao,2014:1615-1618.
[13]XUE Hua,CHEN Jingru,LUAN Menggui,et al.Coupling influence and decoupling control of the secondary regulation loading system for the drive axle of vehicle[C]//2010International Conference on Mechanic Automation and Control Engineering(MACE).Wuhan,2010:3246-3249.
[14]COMELLAS M,PIJUAN J,POTAU X,et al.Efficiency sensitivity analysis of a hydrostatic transmission for an off-road multiple axle vehicle[J].International Journal of Automotive Technology,2013,14(1):151-161.
[15]DO H T,PARK H G,AHN K K.Application of an adaptive fuzzy sliding mode controller in velocity control of a secondary controlled hydrostatic transmission system[J].Mechatronics,2014,24(8):1157-1165.
[16]王慧,许琢.基于二次调节的车辆轮桥加载系统的解耦控制策略研究[J].机械科学与技术,2014,33(7):1087-1090.WANG Hui,XU Zhuo.Research on the decouple control strategy based on secondary regulation for the vehicle’s wheels and transmission bridges[J].Mechanical Science and Technology for Aerospace Engineering,2014,33(7):1087-1090.
[17]王慧,李洪人.重型车辆传动桥二次调节模拟加载试验台的耦合影响与解耦[J].机械工程学报,2004,40(6):19-22.WANG Hui,LI Hongren.Coupling influence and decoupling of the secondary regulation load simulation test equipment for the drive axle of heavy vehicle[J].Chinese Journal of Mechanical Engineering,2004,40(6):19-22.
[18]张寅,孔祥东,陈立娟,等.液压型风力发电机组的转速和转矩解耦控制[J].中国机械工程,2016,27(7):951-956.ZHANG Yin,KONG Xiangdong,CHEN Lijuan,et al.Decoupling control of speed and torque of a hydraulic wind turbine[J].China Mechanical Engineering,2016,27(7):951-956.
[19]姚树新,孔燕.二次调节静液传动系统的技术研究[J].流体传动与控制,2014(3):31-33.YAO Shuxin,KONG Yan.Research on hydrostatic transmission technology in secondary regulation[J].Fluid Power Transmission&Control,2014(3):31-33.
[20]LI Mingxing,JIA Yinmin,DU Junping.LPV control with decoupling performance of 4WS vehicles under velocity-varying motion[J].IEEE Transactions on Control Systems Technology,2014,22(5):1708-1724.
[21]LI Mingxing,JIA Yinmin.Decoupling and robust control of velocity-varying four-wheel steering vehicles with uncertainties via solving attenuating diagonal decoupling problem[J].Journal of the Franklin Institute,2017,354(1):105-122.
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