Fales Roger, Kelkar Atul
Mechanical and Aerospace Engineering, University of Missouri, Columbia, MO 65202, USA.
ISA Trans. 2009 Jul;48(3):312-20. doi: 10.1016/j.isatra.2009.01.007. Epub 2009 Feb 28.
The heavy equipment industry is building more and more equipment with electro-hydraulic control systems. The existing industry practices for the design of control systems in construction machines primarily rely on classical designs coupled with ad-hoc synthesis procedures. Such practices produce desirable results, but lack a systematic procedure to account for invariably present plant uncertainties in the design process as well as coupled dynamics of the multi-input multi-output (MIMO) configuration. In this paper, two H(infinity) based robust control designs are presented for an automatic bucket leveling mechanism of a wheel loader. In one case, the controller is designed for the base plant model. In another case, the controller is designed for the plant with a feedback linearization control law applied yielding improved stability robustness. A MIMO nonlinear model for an electro-hydraulically actuated wheel loader linkage is considered. The robustness of the controller designs are validated by using analysis and by simulation using a complete nonlinear model of the wheel loader linkage and hydraulic system.
重型装备行业正在制造越来越多配备电液控制系统的设备。建筑机械控制系统设计的现有行业惯例主要依赖于经典设计以及临时合成程序。这些做法产生了理想的结果，但缺乏一种系统的程序来考虑设计过程中始终存在的设备不确定性以及多输入多输出（MIMO）配置的耦合动力学。本文针对轮式装载机的自动铲斗调平机构提出了两种基于H无穷的鲁棒控制设计。在一种情况下，控制器是为基础设备模型设计的。在另一种情况下，控制器是为应用反馈线性化控制律的设备设计的，从而提高了稳定性鲁棒性。考虑了电液驱动的轮式装载机连杆机构的多输入多输出非线性模型。通过分析以及使用轮式装载机连杆机构和液压系统的完整非线性模型进行仿真，验证了控制器设计的鲁棒性。
