Research on synchronization control strategy for hydraulic transmission of tracked vehicle

摘要

Synchronization problem was the principal problem and technological challenge for hydrostatic driving tracked vehicle in straight working conditions. The asymmetry caused by parameter perturbations, friction resistance coefficient, leakage coefficient and pump displacement are taken into consideration. These factors were treated as disturbance inputs, and were suppressed by control algorithm. A simulation model of system was developed by Matlab/Simulink and synchronization control strategies for hydraulic transmission of tracked vehicle were designed. The coupling system was decoupled with matrix theory and unilateral closed loop correction was completed based on lag-lead corrector. Then equalizing synchronous circuit and cross-coupling synchronous circuit were applied to reduce the synchronous error. Finally, auto-disturbance rejection controller (ADRC) was proposed. The simulation results showed that the cross-coupling synchronous circuit had better resistance to parameters asymmetry than equalizing synchronous circuit. ADRC improved the synchronous performance further and had a better robustness to the time-varying system.