双马达旁路补偿同步控制行走系统的研究

Research on Synchronization Control of Dual-Motor Running System with Bypass Compensation

摘要: 为了提高静液驱动主动式铲运机行走控制系统的响应速度和直驶稳定性，针对大功率马达速度同步控制系统的同步精度低、响应速度慢的特点，结合交叉耦合控制与大功率阀泵并联调速系统提出了旁路补偿同步控制方案，即将子通道状态差值反馈信号直接作用于旁路设置的比例阀，以此来调节马达进油流量，达到同步误差补偿作用。建立了旁路补偿容积调速同步系统的数学模型，在Matlab/Simulink环境中进行仿真并对比相同控制条件下的容积调速同步控制方案。结果表明：该方案在承受稳定偏载及动态负载情况下的同步误差大幅减少，调节时间减少1/2；马达同步运动所需流量主要由变量泵提供，利用旁路比例阀对容积调速的同步误差进行补偿，这样较好的结合了节流调速和容积调速各自的优点，达到同步精度高、响应速度快、节能高效的目的。

Abstract: In order to improve the response speed of control system and the stability on straight driving of hydrostatic drive self-propelled scooptram, in view of the low synchronous control precision and slow response of high power motor speed synchronization system, the synchronization control system with bypass compensation combined cross-coupling control and valve-pump combined high power hydraulic speed regulation was proposed. The status difference feedback signal of the sub channel is directly acting on the bypass proportional valve, so as to adjust the inlet flow of motors, and achieve a compensation for synchronization error. A mathematical model of the speed synchronization system with bypass compensation was established; the new control scheme was evaluated within Matlab/Simulink compared with a volume speed-modulating synchronization control scheme under the same conditions of control. Results show that: Synchronization error of the system proposed in this paper is reduced significantly under partial load and step load conditions, and the settling time is reduced by half; The flow for synchronized movement is mainly provided by the variable displacement pump, and the bypass proportional valve only compensates the synchronization error, so as to make a good used of each advantage of the throttle speed-modulating and the volume speed-modulating and achieves the purposes of fast response, high synchronization accuracy and energy efficiency.