钢轨打磨车专用EHA非线性反演控制

王海波; 何欢; 邹怀静; 聂勇

doi:10.13700/j.bh.1001-5965.2022.0681

钢轨打磨车专用EHA非线性反演控制

doi: 10.13700/j.bh.1001-5965.2022.0681

王海波^{1, 2, ,},
何欢¹,
邹怀静¹,
聂勇³

1.
西南交通大学机械工程学院，成都 610031
2.
轨道交通运维技术与装备四川省重点实验室，成都 610031
3.
浙江大学流体传动及控制国家重点实验室，杭州 310027

基金项目: 四川省科技厅计划应用基础研究项目(2021YJ0029)；西南交通大学轨道交通运维技术与装备四川省重点实验室开放课题(2020YW001)

详细信息

通讯作者:
E-mail：haibowang@home.swjtu.edu.cn

中图分类号: U216；TH137
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- 文章访问数: 137
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- 被引次数: 0
出版历程
- 收稿日期: 2022-08-01
- 录用日期: 2022-10-30
- 网络出版日期: 2022-11-15
- 整期出版日期: 2024-08-28

Nonlinear backstepping control of special EHA for rail grinding vehicles

WANG Haibo^{1, 2
, ,},
HE Huan¹,
ZOU Huaijing¹,
NIE Yong³

1.
School of Mechanical Engineering，Southwest Jiaotong University，Chengdu 610031，China
2.
Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of Sichuan Province，Chengdu 610031，China
3.
State Key Laboratory of Fluid Power Transmission and Control，Zhejiang University，Hangzhou 310027，China

Funds: Science and Technology Department's Planned Application Basic Research Project of Sichuan Porvince(2021YJ0029); Open Research Project of Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of South West Jiaotong University (2020YW001)

More Information

Corresponding author: E-mail：haibowang@home.swjtu.edu.cn

摘要

摘要:
为提高钢轨打磨车打磨钢轨的平顺性及稳定性，提出以电动静液作动器(EHA)代替传统液压作动系统作为钢轨打磨车的专用执行器，考虑柱塞泵的总效率波动和液压缸动静摩擦差异大2个非线性因素，建立非线性数学模型；建立EHA的MATLAB、AMESim联合仿真模型，对PID控制、滑模变结构控制、反演控制进行控制策略对比研究，仿真分析验证反演控制在响应快速性及稳定性方面具有良好的表现。搭建四象限平台对EHA进行反演控制负载试验，结果表明：其位移控制精度达0.21 mm，具有较好的控制性能。
- 钢轨打磨车 /
- 电动静液作动器 /
- 非线性因素 /
- 联合仿真 /
- 反演控制
Abstract:
In order to improve the smoothness and stability of rail grinding by the rail grinding vehicle, an electric hydrostatic actuator (EHA) was proposed to replace the traditional hydraulic system as the special actuator of the rail grinding vehicle. By considering the nonlinear factors including the total efficiency fluctuation of the plunger pump and the large difference between the dynamic and static friction of the hydraulic cylinder, a nonlinear mathematical model was established. The MATLAB and AMESim joint simulation model of EHA was established, and the control strategies of PID control, sliding mode variable structure control, and backstepping control were compared. The simulation analysis verified that the backstepping control had good performance in response speed and stability. The four quadrant platform was built to carry out the backstepping control load test of EHA. The results show that its displacement control accuracy reaches 0.21 mm, indicating good control performance.
- rail grinding vehicle /
- electric hydrostatic actuator /
- nonlinear factors /
- joint simulation /
- backstepping control

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图 1 专用EHA液压原理

1. 弹簧增压油箱；2. 单向阀；3. 过滤器；4. 压力变送器；5. 溢流阀；6. 双向定排量变转速泵；7. 伺服电机；8. 平衡阀；9. 电磁换向阀；10. 位移传感器；11. 双作用对称缸。

Figure 1. Hydraulic principle of special EHA

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图 2 EHA的反演控制系统模型

Figure 2. Backstepping control system model of EHA

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图 3 EHA的联合仿真模型

Figure 3. Joint simulation model of EHA

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图 4 不同控制策略仿真结果

Figure 4. Simulation results of different control strategies

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图 5 钢轨打磨车专用EHA

Figure 5. Special EHA for rail grinding vehicle

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图 6 EHA控制性能试验的流程图

Figure 6. Control performance test flow chart of EHA

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图 7 反演控制样机试验结果

Figure 7. Test results of backstepping control prototype

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图 8 EHA四象限试验台架

Figure 8. Four quadrant test bench of EHA

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图 9 正负载至负负载样机试验

Figure 9. Prototype test from positive load to negative load

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图 10 负负载至正负载样机试验

Figure 10. Prototype test from negative load to positive load

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表 1 EHA设计指标

Table 1. Design indexes of EHA

行程/mm	负载力/KN	速度/（mm·s⁻¹）	位移全尺寸精度/%
100	≤10	≥20	≤0.77

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表 2 摩擦模型相关参数

Table 2. Relevant parameters of friction model

${{{\sigma _0}} / ({{\mathrm{N}} \cdot {\mathrm{m}}}})$	${{{\sigma _1}} /( {{\mathrm{N}} \cdot {\mathrm{m}}}} \cdot {{\mathrm{s}}^{ - 1}})$	${{{\sigma _2}} /( {{\mathrm{N}} \cdot {\mathrm{m}} \cdot {{\mathrm{s}}^{ - 1}}}})$	${{{v_{\mathrm{s}}}} /({{\mathrm{N}} \cdot {\mathrm{m}} \cdot {{\mathrm{s}}^{ - 1}}}})$	${{ {{f_{\mathrm{c}}}} } /{{\mathrm{kN}}}}$	${{ {{f_{\mathrm{s}}}} }/ {{\mathrm{kN}}}}$
$ 2.1\times {10}^{7} $	0.1	150	0.1	142	12

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表 3 EHA仿真参数

Table 3. Simulation parameters of EHA

参数	数值
油缸有效行程/mm	100
油缸直径/mm	63
活塞杆直径/mm	35
泵额定转速/（r·min⁻¹）	3000
泵排量/(ml·r⁻¹)	1
溢流压力/MPa	8
转子惯量/($ \mathrm{k}\mathrm{g}\cdot{{\mathrm{m}}}^{2} $)	$ 2.7\times {10}^{-5} $
线电阻/Ω	5.5
线电感/H	$ 9.6\times {10}^{-3} $
反电势常数/($ \mathrm{V}\cdot \mathrm{m}\cdot {{\mathrm{r}}}^{-1} $)	$ 3.2\times {10}^{-2} $

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表 4 不同控制策略仿真数据

Table 4. Simulation data of different control strategies

控制策略	上升时间/s	控制精度/mm	最大超调量占比/%
PID控制	4.97	0.037	0.08
滑模变结构控制	2.74	0.642	1.28
反演控制	3.56	0.035	0.07

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表 5 反演控制试验数据

Table 5. Backstepping control test data

反演代表参数	上升时间/s	控制精度/mm	最大超调量占比/%
$ {k}_{1}=200 $	8.49	0.09	0.18
$ {k}_{1}=300 $	5.54	0.72	1.43
$ {k}_{1}=350 $	4.62	0.65	1.31
$ {k}_{1}=400 $	4.12	0.77	1.54

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