液压机械无级变速器速比自抗扰控制研究

In this paper, a hydro-mechanical continuously variable transmission with single planetary row is designed, and for enhancing its speed ratio tracking control performance, an active disturbance rejection control (ADRC)algorithm with feedforward compensation is proposed to achieve the speed ratio tracking control. Firstly, a mathematical model of the system is established, the feed-forward control quantity is obtained through a theoretical analysis on the rotational speed relationship of transmission system, and the active disturbance rejection controller is adopted to apply the closed-loop control on speed ratio. Then the system simulation platform is set up, the prototype vehicle is built, and the designed active disturbance rejection speed ratio controller with feedforward compensation is verified by simulation and test. The results show that the proposed active disturbance rejection speed ratio control scheme can effectively achieve the tracking control of speed ratio. Compared with the classical PID control, ADRC has the advantages of small deviation in speed ratio, high response speed, good adaptability and strong disturbance resistance ability.