基于非线性逆迟滞模型的液粘智能调速控制方法

doi:10.3901/JME.2025.12.305

机械工程学报 ›› 2025, Vol. 61 ›› Issue (12): 305-314.doi: 10.3901/JME.2025.12.305

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基于非线性逆迟滞模型的液粘智能调速控制方法

汪首坤^1,2, 王晓军^1,2, 王亮^1,2, 汪浒江³, 王涛³, 郭刘洋³

1. 北京理工大学复杂系统智能控制与决策国家重点实验室北京 100081;
2. 北京理工大学伺服运动系统驱动与控制工信部重点实验室北京 100081;
3. 中国北方车辆研究所车辆传动重点实验室北京 100072

收稿日期:2024-09-21 修回日期:2025-02-12 出版日期:2025-06-20 发布日期:2025-08-07
作者简介:汪首坤，男，1977年出生，博士，教授。主要研究方向为电液伺服驱动与控制和无人平台运动控制。E-mail：bitwsk@bit.edu.cn;王亮(通信作者)，男，1994年出生，博士研究生。主要研究方向为非线性迟滞补偿控制、机器人运动驱动控制、路径跟踪与规划控制。E-mail：yanqianyi_liang@bit.edu.cn
基金资助:
基础研究资助项目(20195208003)。

Hydraulic Viscous Intelligent Speed Control Method Based on Nonlinear Inverse Hysteresis Model

WANG Shoukun^1,2, WANG Xiaojun^1,2, WANG Liang^1,2, WANG Hujiang³, WANG Tao³, GUO Liuyang³

1. Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Beijing 100081;
2. Key Laboratory of Servo Motion System and Control, Beijing Institute of Technology, Beijing 100081;
3. China North Vehicle Research Institute, Science and Technology on Vehicle Transmission Laboratory, Beijing Institute of Technology, Beijing 100072

Received:2024-09-21 Revised:2025-02-12 Online:2025-06-20 Published:2025-08-07

摘要/Abstract

摘要： 液粘调速系统软启动和无级调速的优点使其应用广泛，但其固有的死区、滞环等非线性特性增加了控制难度。针对液粘离合器的死区和滞环特性，研究一种基于非线性逆迟滞模型的液粘离合器智能调速方法。利用主迟滞回线数据对液粘离合器建模，经过非线性映射得到次迟滞回线信息，主迟滞回线和次迟滞回线共同构成逆迟滞模型；以逆迟滞模型为前馈环节、自抗扰控制器为反馈回路，设计调速方案，将非线性系统补偿为伪线性系统，以减小滞后和死区，提高控制精度。经过台架试验验证，所提出的控制方法可以减小系统死区，扩大有效控制区间；将系统的非线性度由40%～60%降低至20%以下；补偿系统固有滞后，使系统的迟滞量由开环控制下的40%～50%降低至逆补偿闭环控制下的15%；转折点滞后时间小于1 s；增强系统的动态性能，抑制输入转速波动对系统的影响。

关键词: 液粘调速系统, 非线性特性, 滞环特性, 逆迟滞模型, 自抗扰控制

Abstract: The advantages of soft start and step-less speed regulation of the viscous speed control system make it widely used, but its inherent nonlinear characteristics such as dead zone and hysteresis increase the control difficulty. Aiming at the dead zone and hysteresis characteristics of the hydro viscous speed control clutch, an intelligent speed control method of the hydro viscous clutch based on the nonlinear inverse hysteresis model is studied. The hydro viscous speed regulating clutch is modeled by using the data of the main hysteresis loop, and the information of the secondary hysteresis loop is obtained through nonlinear mapping, the main hysteresis loop and the secondary hysteresis loop together form the inverse hysteresis model; With the inverse hysteresis model as the feedforward link and the active disturbance rejection controller as the feedback loop, a speed regulation scheme is designed to compensate the nonlinear system into a pseudo-linear system to reduce the lag and dead zone and improve the control accuracy. After bench test verification, the proposed control method can reduce the dead zone of the system and expand the effective control range; Reduce the nonlinear degree of the system from 40%-60% to less than 20%; Compensate the inherent hysteresis of the system, so that the hysteresis of the system is reduced from 40%-50% under open-loop control to 15% under reverse compensation closed-loop control; Turning point lag time less than 1s; Enhance the dynamic performance of the system. Suppress the influence of input speed fluctuation on the system.

Key words: viscous speed control system, nonlinear characteristic, hysteresis characteristics, inverse hysteresis model, active disturbance rejection control

中图分类号:

TH137
TP215

汪首坤, 王晓军, 王亮, 汪浒江, 王涛, 郭刘洋. 基于非线性逆迟滞模型的液粘智能调速控制方法[J]. 机械工程学报, 2025, 61(12): 305-314.

WANG Shoukun, WANG Xiaojun, WANG Liang, WANG Hujiang, WANG Tao, GUO Liuyang. Hydraulic Viscous Intelligent Speed Control Method Based on Nonlinear Inverse Hysteresis Model[J]. Journal of Mechanical Engineering, 2025, 61(12): 305-314.

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http://www.cjmenet.com.cn/CN/Y2025/V61/I12/305

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基于非线性逆迟滞模型的液粘智能调速控制方法

Hydraulic Viscous Intelligent Speed Control Method Based on Nonlinear Inverse Hysteresis Model

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