【作者】 靳添絮； 商铁军； 刘立；

【Author】 JIN Tianxu~1,SHANG Tiejun~2,LIU Li~1 (1.School of Mechanical Engineering,University of Science and Technology,Beijing 100083,China; 2.Beijing Anchises Technology Co.Ltd,Beijing 100083,China)

【机构】 北京科技大学机械工程学院； 北京安期生技术有限公司；

【摘要】 针对百吨级矿用自卸车的交流电传动对高瞬时功率和高功率密度、快速启动、高负载爬坡的设计要求,以及非线性环节和大惯量特性,对系统进行工况分析和模型辨识,利用扩展状态观测器补偿系统中的不确定因素以及高阶变量,将系统简化为积分串联型,基于简化后的模型用幂次趋近律设计控制律,得到基于扩展状态观测器的变结构控制器。将此控制器应用于百吨级矿用自卸车的交流电传动系统。仿真结果证明:此控制器在该系统中取得了较好的控制效果及鲁棒性。更多还原

【Abstract】 Considering the characteristics of the AC drive system of super-big mining dump truck,such as high power density,quick stat,nonlinearity and high inertia,variable structure controller(VSC) based on extended state observer(ESO) was designed for the aim of quick,stable and high-accuracy controlling process.The disturbances and high-order factors were estimated and compensated using ESO.The dynamic compensation reduces the AC drive system to approximately a triple integrator which can be easily controlled using VSC.And because ESO provides a high-frequency path for the dynamic state which is not modeling,the chatter of VSC is reduced.Through the simulation, it is shown that this controller is adapt to the AC drive system of the AC drive system of super-big mining dump truck.更多还原