基于前馈的牵引机抗冲击复合控制方法及功率匹配研究

Research on Feedforward-Based Anti-Impact Composite Control and Power Matching for Traction Machines

摘要:

针对智能牵引机在施工中因外部冲击负载易导致机电液动力系统稳态功率平衡被破坏的问题，提出一种基于前馈的抗冲击复合控制与功率匹配方法。采用前馈与反馈复合控制架构，引入基于张力梯度的自适应洗出滤波，实现缓变地形载荷与高频冲击的频域解耦；结合小扰动敏感度解析和非对称虚拟阻尼，构建抗突变重载的前馈补偿通道。通过多档距长序列变载及极端冲击工况的动态仿真与量化分析表明，该方法能在转速跌落前使执行器超前卸荷，显著提升动态抗扰性能。在物理冲击下，系统可有效抑制震荡并稳定于目标转速附近，实现机电液功率平衡的高效自适应匹配，为工程控制优化提供理论参考。

Abstract:

To address the issue that external impact loads easily disrupt the steady-state power balance of the electromechanical-hydraulic power system in intelligent traction machines during construction, this paper proposes a feedforward-based anti-impact composite control and power matching method. A composite control architecture combining feedforward and closed-loop feedback is adopted, along with an adaptive washout filter based on tension gradient to decouple slowly varying terrain loads from high-frequency impacts in the frequency domain. By integrating small-perturbation sensitivity analysis and asymmetric virtual damping, a composite feedforward compensation channel resistant to sudden heavy loads is constructed. Dynamic simulations and quantitative analyses under long-sequence variable loads across multiple spans and extreme impact conditions demonstrate that the actuator can achieve preemptive load reduction before speed drop, significantly improving dynamic disturbance rejection. Under physical impacts, the system effectively suppresses oscillations and remains stable near the target speed, achieving efficient adaptive power balance matching. This provides a theoretical reference for engineering control optimization.