基于扰动观测器的电动挖掘机变惯量电回转模型参考自适应控制

doi:10.3901/JME.2025.12.368

机械工程学报 ›› 2025, Vol. 61 ›› Issue (12): 367-376.doi: 10.3901/JME.2025.12.368

• 交叉与前沿 • 上一篇

扫码分享

基于扰动观测器的电动挖掘机变惯量电回转模型参考自适应控制

陈其怀^1,2, 郑镠清¹, 林添良^1,2, 李钟慎^1,2, 任好玲^1,2, 付胜杰^1,2

1. 华侨大学机电及自动化学院厦门 361021;
2. 福建省移动机械绿色智能驱动与传动重点实验室厦门 361021

收稿日期:2024-07-30 修回日期:2025-02-25 发布日期:2025-08-07
作者简介:陈其怀，男，1988年出生，博士，副教授。主要研究方向为工程机械电液驱动与控制技术。E-mail：chen.qihuai@163.com;林添良(通信作者)，男，1983年出生，博士，教授，博士研究生导师。主要研究方向为工程机械的电动化和智能化技术。E-mail：ltlkxl@163.com
基金资助:
国家重点研发计划(2023YFB3406603)、国家自然科学基金(52275055&52175051)、福建省高校产学研联合创新(2022H6007&2022H6028)和厦门市重大科技计划(3502Z20231013)资助项目。

Model Reference Adaptive Control of Electric Excavator Variable Inertia Electric Swing Based on Adaptive Disturbance Observer

CHEN Qihuai^1,2, ZHENG Liuqing¹, LIN Tianliang^1,2, LI Zhongshen^1,2, REN Haoling^1,2, FU Shengjie^1,2

1. College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021;
2. Fujian Key Laboratory of Green Intelligent Drive and Transmission for Mobile Machinery, Xiamen 361021

Received:2024-07-30 Revised:2025-02-25 Published:2025-08-07

摘要/Abstract

摘要： 电动挖掘机具有零排放和高能效优势，已是行业发展热点。挖掘机回转电驱相较于传统液驱系统，可进一步提高整机能效，是挖掘机绿色化发展重要趋势。然而，挖掘机上车回转为典型时变大惯量系统，现有电驱系统在应对大负载惯量变化和突变负载时，存在控制性能不足和鲁棒性差的问题。为此，提出一种基于模型参考自适应的自抗扰控制方法，针对挖掘机回转系统负载扰动、时变惯量扰动，搭建扰动观测器，提高系统控制性能。为验证所提出控制方法的有效性，开展仿真与试验研究。仿真和试验结果表明，所提出控制方法较PID具有更优良的控制性和鲁棒性。相较于比例积分微分(Proportional integral derivative，PID)控制，定惯量工况下，模型参考自适应控制调整时间提高了9.3%，基于扰动观测器的模型参考自适应控制调整时间提高了32.6%，超调降低了45.5%。变惯量工况下，模型参考自适应控制调整时间提高了36.1%，超调量降低了39.7%，基于扰动观测器的模型参考自适应控制调整时间提高了41.8%，超调量降低了50%。突变载荷过程，模型参考自适应控制调整时间提高了12.8%，超调降低5.6%，基于扰动观测器的模型参考自适应控制调整时间提高了29.5%，超调量降低了16.7%。

关键词: 工程机械, 回转, 电驱动, 模型参考自适应控制, 扰动观测器

Abstract: Electric excavators with zero emissions and high energy efficiency, have become a focal point in industry development. Compared to traditional hydraulic drive systems, the swing electric drive can further enhance energy efficiency, marking a significant trend toward greener excavator technology. However, the swing structure of excavators represents a typical time-varying large-inertia system. Existing electric drive systems exhibit inadequate control performance and poor robustness when addressing large load inertia variations and sudden load changes. To address these challenges, a model reference adaptive-based active disturbance rejection control method is proposed. This approach incorporates a disturbance observer tailored to handle load disturbances and time-varying inertia disturbances in swing systems, thereby improving system control performance. To validate the effectiveness of the proposed control method, simulations and experiments are carried out. The results demonstrate that the proposed control method offers superior control performance and robustness compared to proportional integral derivative(PID) control. Specifically, under constant inertia conditions, model reference adaptive control reduced adjustment time by 9.3%, with disturbance observer-based model reference adaptive control further improving adjustment time by 32.6% and reducing overshoot by 45.5%. Under varying inertia conditions, model reference adaptive control decreased adjustment time by 36.1% and overshoot by 39.7%, while disturbance observer-based model reference adaptive control achieved a 41.8% reduction in adjustment time and a 50% decrease in overshoot. During sudden load events, model reference adaptive control reduced adjustment time by 12.8% and overshoot by 5.6%, whereas disturbance observer-based model reference adaptive control improved adjustment time by 29.5% and reduced overshoot by 16.7%.

Key words: construction machinery, swing, electric motor drive, model reference adaptive control, disturbance observer

中图分类号:

TP242

陈其怀, 郑镠清, 林添良, 李钟慎, 任好玲, 付胜杰. 基于扰动观测器的电动挖掘机变惯量电回转模型参考自适应控制[J]. 机械工程学报, 2025, 61(12): 367-376.

CHEN Qihuai, ZHENG Liuqing, LIN Tianliang, LI Zhongshen, REN Haoling, FU Shengjie. Model Reference Adaptive Control of Electric Excavator Variable Inertia Electric Swing Based on Adaptive Disturbance Observer[J]. Journal of Mechanical Engineering, 2025, 61(12): 367-376.

参考文献

[1] NOUMBA I，NGUEA S. Assessing the role of globalization for universal electricity access[J]. International Economics，2023，174：180-195.
[2] 马建，孙守增，芮海田，等. 中国筑路机械学术研究综述·2018[J]. 中国公路学报，2018，31(6)：1-164. MA Jian，SUN Shouzeng，RUI Haitian，et al. A review of academic research on chinese road construction machinery[J]. China Journal of Highway and Transport，2018，31(6)：1-164.
[3] HUANG X，YAN W，CAO H，et al. Prospects for purely electric construction machinery：Mechanical components，control strategies and typical machines[J]. Automation in Construction，2024，164：105477.
[4] YAO Hong，WANG Qingfeng. The control strategy for improving the stability of a powertrain for a compound hybrid power excavator[J]. Proceedings of the Institution of Mechanical Engineers，Part D：Journal of Automobile Engineering，2015，229(14)：1944-1958.
[5] 贺磊，刘志奇，刘宣佐，等. 大惯量高频启停液压回转机构节能驱动技术综述[J]. 机电工程，2022，39(7)：877-885. HE Lei，LIU Zhiqi，LIU Xuanzuo，et al. Review of energy-saving drive technology for high inertia high-frequency start stop hydraulic rotary mechanism[J]. Journal of Mechanical & Electrical Engineering，2022，39(7)：877-885.
[6] GU Tingyun，ZHANG Houyi，LI Bowen，et al. Virtual inertia control to active support of the variable-speed wind turbine in variable frequency limit time[J]. Frontiers in Energy Research，2024，12：1352385.
[7] JAUCH C，JOST R，KLOFT P. Hydraulic variable inertia flywheel[J]. Applied Energy，2024，360：122830.
[8] REN Haoling，LIN Tianliang，HUANG Weiping，et al. Characteristics of the energy regeneration and reutilization system during the acceleration stage of the swing process of a hydraulic excavator[J]. Proceedings of the Institution of Mechanical Engineers，Part D：Journal of Automobile Engineering，2017，231(6)：842-856.
[9] JOVANOVIC V，JANOSEVIC D，MARINKOVIC D，et al. Analysis of influential parameters in the dynamic loading and stability of the swing drive in hydraulic excavators[J]. Machines，2024，12(10)：737.
[10] FU W，ZHANG L，MENG Z，et al. Research on maneuverability optimization of negative control excavator[J]. IEEE Access，2022(10)：52043-52051.
[11] ZHANG L，FU W，YUAN X，et al. Research on optimal control of excavator negative control swing system[J]. Processes，2020，8(9)：1096.
[12] 王成宾，权龙. 大惯量负载液压冲击的主动变阻尼抑制方法[J]. 机械工程学报，2014，50(8)：182-188. WANG Chengbin， QUAN Long. Methods of restrain the hydraulic impact with active adjusting the variable damping in system with large inertia load[J]. Journal of Mechanical Engineering，2014，50(8)：182-188.
[13] 刘锋，黄长征，罗昕，等. 大惯量负载回转液压系统启制动平稳性的实验研究[J]. 液压与气动，2017(1)：89-93. LIU Feng，HUANG Changzheng，LUO Xin，et al. Experimental study on start-up and braking stability for large inertia load slewing hydraulic system[J]. Hydraulic and Pneumatic，2017(1)：89-93.
[14] MOROTA Y，KOZUI M，YAMAMOTO T，et al. Design of a swing operation assist controller with a local feedback compensator for a hydraulic excavator[J]. IEEJ Transactions on Electrical and Electronic Engineering，2021，16(10)：1444-1446.
[15] JIN K，PARK T，LEE H. A control method to suppress the swing vibration of a hybrid excavator using sliding mode approach[J]. Proceedings of the Institution of Mechanical Engineers，2012，226(5)：1237-1253.
[16] MOROTA Y，KOZUI M，YAMAMOTO T， et al. Design of a swing operation assist controller with a local feedback compensator for a hydraulic excavator[J]. IEEJ Transactions on Electrical and Electronic Engineering，2021，16(10)：1444-1446.
[17] SUN G，MAO Y，LI X，et al. Dual-motor master-slave cross-coupled synchronization control of winch considering parameters variations[C/OL]//Proceedings of the 46th Annual Conference of the IEEE Industrial Electronics Society，Singapore，New York：IEEE，2020.
[18] ZHAO W，REN X，WANG S. Parameter estimation-based time-varying sliding mode control for multi-motor driving servo systems[J]. IEEE/ASME Transaction on Mechatronics，2017，22：2330-2341.
[19] QIN T，MA Y，LI Y，et al. Torque equilibrium position closed-loop control of dual electric motors swing system for large mining excavator[J]. Mechatronics，2023，95：103035.

基于扰动观测器的电动挖掘机变惯量电回转模型参考自适应控制

Model Reference Adaptive Control of Electric Excavator Variable Inertia Electric Swing Based on Adaptive Disturbance Observer

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	贾存德, 赵喆伟, 孔祥东, 张珍年, 许宏宇, 艾超. 时变负载下旋挖钻机行走系统抗干扰控制研究[J]. 机械工程学报, 2025, 61(8): 413-422.
[2]	陈东菊, 张璇, 潘日, 孙锟, 范晋伟. 弹性节流器空气静压径向轴承的动态性能研究[J]. 机械工程学报, 2025, 61(5): 74-86.
[3]	陈其怀, 林添良, 马荣华, 温建和, 缪骋, 任好玲. 基于多模态的履带式挖掘机自动驾驶决策网络[J]. 机械工程学报, 2025, 61(4): 380-388.
[4]	侯旭朝, 马越, 项昌乐. 电驱动履带车辆转向稳定性控制研究[J]. 机械工程学报, 2024, 60(8): 233-244.
[5]	孙文彪, 熊万里, 原帅, 曾旭, 汪剑. 磁化效应对高速磁悬浮外圆磨削电主轴回转精度影响规律研究[J]. 机械工程学报, 2024, 60(23): 236-245.
[6]	李鸿濠, 卢志荣, 王晓明, 谭述君, 周文雅. 基于加速度表征目标函数的主动反射器最优动态变形控制[J]. 机械工程学报, 2024, 60(19): 32-39.
[7]	任宝珍, 赵岩, 张建华, 张建军. 基于回转夹持递送的导管摩擦驱动研究[J]. 机械工程学报, 2024, 60(17): 80-90.
[8]	刘明良, 唐颀, 田小永, 刘腾飞, 秦滢杰, 李涤尘. 连续纤维增强加筋圆柱壳回转3D打印工艺及其轴压性能研究[J]. 机械工程学报, 2024, 60(15): 283-290.
[9]	许锰, 杨依领, 吴高华, 崔玉国, 魏燕定. 二自由度并联压电粘滑定位平台[J]. 机械工程学报, 2024, 60(11): 250-258.
[10]	王钦, 贺迪, 桂良进, 范子杰. 考虑系统变形的电驱动桥齿轮啮合效率研究[J]. 机械工程学报, 2023, 59(3): 66-75.
[11]	王登勇, 乐华勇, 朱荻. 薄壁回转体表面岛屿状高凸台结构旋印电解加工成形过程研究[J]. 机械工程学报, 2023, 59(3): 337-348.
[12]	任好玲, 吴江东, 林添良, 张春晖, 李玉坤. 基于多传感器紧耦合的工程机械定位与建图系统[J]. 机械工程学报, 2023, 59(24): 323-333.
[13]	郭欣茹, 杨云帆, 凌亮, 陈哲, 王开云, 翟婉明. 防滑控制策略对机车车轮的损伤影响研究[J]. 机械工程学报, 2023, 59(22): 369-379.
[14]	陈爽, 胡明辉, 赵佳伟. 系统损耗最小的双电机纯电动汽车实时转矩分配策略[J]. 机械工程学报, 2023, 59(22): 411-423.
[15]	宾光富, 钟新利, 张阳演, 杨峰, 陈安华. 基于压电驱动浮环轴承间隙可调的涡轮增压器转子瞬变振动主动控制[J]. 机械工程学报, 2023, 59(18): 31-41.