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在传统的铰接式装载机全液压转向系统中,利用电液比例换向阀替代原有转向系统中的液压转向器,构成装载机线控转向系统。针对装载机线控转向液压伺服系统中的非线性与各种不确定因素,提出了带有专家智能协调控制器的Bang-Bang控制与神经网络PID控制相结合的新型智能控制方案。通过专家智能控制器的协调控制,充分利用Bang-Bang控制策略与神经网络控制策略的优点,从而达到转向系统所需的响应快、精度高的要求。将文中所设计的控制系统在山东临工工程机械有限公司生产的LG958型装载机上实车装机,并与传统的PID控制方案进行对比试验,试验结果表明该控制方法启动快、无超调,系统的动态性能得到较大改善,具有较强的鲁棒性。
In the traditional articulated loader hydraulic steering system, the electro-hydraulic proportional valve is used to replace the hydraulic steering system in the original steering system to form a steer-by-wire system of the loader. Aiming at the nonlinear and various uncertainties in the steer-by-wire steering hydraulic servo system of loader, a new intelligent control scheme combining Bang-Bang control with neural network PID control with expert intelligent coordinated controller is proposed. Through the coordinated control of expert intelligent controller, the advantages of Bang-Bang control strategy and neural network control strategy are fully utilized so as to achieve the fast response and high precision required by the steering system. The control system designed in this paper is installed on the LG958 loader produced by Shandong Lingong Construction Machinery Co., Ltd., and compared with the traditional PID control scheme. The test results show that the control method starts fast and no overshoot, and the system The dynamic performance has been greatly improved, with strong robustness.