Rotating speed control system and method of water hydraulic motor

Abstract

The invention discloses a rotating speed control system and method of water hydraulic motor. The method comprises the following steps that 1, fuzzy control is used for overcoming the defect that because a traditional control mode is not high in control precision, the traditional control mode cannot adapt to the variable quantity and non linearity of a water hydraulic system; 2, feedforward is carried out by utilizing target rotating speed, and the rotating speed fluctuation of the water hydraulic motor is compensated in advance according to the total volume efficiency feedback mode of the system; 3, the difference between the theoretical rotating speed of a servo motor and the actual rotating speed is fed back, a local small closed loop is formed on the control of the rotating speed of theservo motor, and the precision of the rotating speed control of the servo motor is improved; 4, the interference components in the flow signals are stripped based on a multi-resolution analysis theory, and then the signals are reconstructed; and 5, wavelet transformation is carried out on the rotating speed signals to reduce or eliminate quantization errors in the rotating speed information. Thecontrol precision of the rotating speed of the hydraulic motor is high, and the response speed is high, the anti-disturbance capability is strong, and the rotating speed of the water hydraulic motor is smooth.

Description

technical field [0001] The invention belongs to the technical field of water hydraulic motor control, and in particular relates to a water hydraulic motor speed control system and method. Background technique [0002] With the implementation of the national marine strategy, the water hydraulic system is more and more widely used in the deep sea and the ocean, and the requirements for the control accuracy of the water hydraulic motor speed are getting higher and higher. However, due to the special properties of water such as low viscosity, poor lubrication performance and high gasification pressure, water hydraulic motors are more prone to occurrence, cavitation impact, water hammer noise, etc., making the speed of water hydraulic motors more likely to fluctuate than hydraulic motors. Controls are also harder. There are three modes of water hydraulic motor speed regulation: throttling speed regulation, variable displacement and variable speed. The throttling speed regulatio...

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Problems solved by technology

[0003] Aiming at the deficiencies in the prior art, the present invention proposes a water hydraulic motor speed control system and method, using fuzzy control to overcome the traditional control method's low control accuracy and unable to adapt to the multi-variable and nonlinear defects of the water hydraulic system; but for water hydraulic When the motor speed fluctuates greatly, the response speed of the fuzzy control is slow. The reason is that when the water hydraulic motor speed fluctuates greatly, it is often accompanied by the change of the volumetric efficiency of the water hydraulic pump and the water hydraulic motor, so that the actual speed of the water hydraulic motor is adjusted to the target speed. the process becomes longer

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