变量泵驱动变量马达系统高压自动变量Backstepping控制.docVIP

  High pressure automatic variables backstepping for the variable pump driving variable motor system# Wang Yan* 5 10 15 20 (School of Transportation Science and Engineering, Beihang University, Beijing 100191) Abstract: The variable pump driving variable motor (VPDVM) is the future development trend for the hydraulic transmission. VPDVM is a dual-input single-output nonlinear system with coupling, which is difficult to control. A novel control algorithm, high pressure automatic variables backstepping (HABS), is proposed to achieve the desired motor speed. First, the VPDVM nonlinear mathematic model is established, which is then linearized by the feedback linearization theory, and the VPDVM zero-dynamic stability was proved. Secondly, the HABS control algorithm was proposed for VPDVM, in which the variable motor is controlled by high pressure automatic variables (HA) and the variable pump is controlled by backstepping. Next, the stability of the VPDVM controlled by HABS is proved based on the Lyapunov theorem. Finally, numerical simulations of the VPDVM demonstrate the feasibility and strong robustness of the HABS proposed. Keywords: hydraulic; nonlinear; HA; backstepping 0 Introduction Unmanned ground vehicles (UGV) have been widely used in the Afghanistan and Iraq war. The UGV transmission mode has the mechanical transmission, electric drive and hydraulic transmission. The Variable pump driving variable motor（VPDVM）with high power density, smooth transmission and overload protection is the future development trend of UGV hydraulic transmission [1]. Without considering the system leaks, the motor speed can be calculated as bellow: 25  where, q p q m ?m is the motor speed;??P denotes the variable pump speed; qP denotes the variable pump displacement; qm is the variable motor displacement.  It can be seen from equation (1) that the VPDVM is a dual-input ( qP , qm ) single-output (??m )  nonlinear hydraulic system with coupling. Once the variable pump speed