路轨两用车辆轨道行驶驱动系统及其控制策略研究

摘要

A hydraulic drive system model for track driving of a road-rail fire engine is established. Based on Lyapunov stability theory and taking linear optimum full state feedback model as reference, a model reference adaptive controller is designed for the hydraulic drive system with parametric uncertainties and outside disturbances,and the adaptive control law and corresponding converging condition are derived. The results of numerical simulation indicate that the controller designed achieves good robustness against parametric uncertainties and can well follow the desired rotation speed of hydraulic motor with simple algorithm and high control accuracy.%建立了路轨两用消防车轨道行驶的液压驱动系统模型,并针对液压驱动系统中存在的参数不确定和外界干扰等因素,基于李雅普诺夫稳定性理论,以线性最优全状态反馈模型为参考模型,设计了液压驱动系统模型参考自适应控制器.推导了自适应控制律及相应的收敛条件.数值仿真结果表明,该控制器对于模型参数的不确定性具有很好的鲁棒性,能较好地跟踪液压马达的期望转速,且算法简单,控制精度高.