The Research Of Key Technology For Hydraulic Transmission System On Generating System In Walking Machines

Vehicle power generation system has many advantages such as low noise,high power to weight ratio,flexible layout and so on.It is widely used in industry,agriculture and national defense.The vehicle hydraulic power generation system in power generation motor output speed fluctuation is too large,the closed pump based on variable pump and fixed motor controlled motor system as the research object,study the engine speed and load torque change of hydraulic motor speed control problem.According to the technical requirements of the onboard power generation system,the design of the vehicle power generation hydraulic transmission system is carried out,and the selection of the main components such as the variable pump and the quantitative motor is completed.Based on the working principle of the variable pump variable mechanism,the influence of the variable pump swash plate force on the control system is analyzed,and the mathematical model of the variable pump variable mechanism is established.The frequency response characteristics of the variable displacement system of the variable pump swashplate are analyzed,and the mathematical model of the closed-loop system of the variable pump swashplate and the mathematical model of the pump-controlled motor system are established.The effects of controllability,observability,stability,input speed disturbance and load disturbance on the system of the pump controlled motor system are analyzed.In order to improve the dynamic performance of the motor speed,avoid the speed error integral causing large overshoot,puts forward the integral separation PID motor speed control,the simulation results show that the starting stage of the short adjusting time,small overshoot,but the load and input speed time-varying control and low accuracy,poor anti-interference ability.Aiming at the problem that the variable speed of the variable pump is poor,a fuzzy adaptive PID controller based on load torque observer is proposed.In view of the low control precision of load torque,load torque compensation is introduced.The simulation results show that the proposed algorithm can effectively suppress the fluctuation of motor speed and improve the control precision and anti-interference ability.