Precise control algorithm of rotational speed of the valve-controlled hydraulic motor under load fluctuating conditions.

The present study focuses on the analysis and design of a novel fuzzy adaptive PID control algorithm, aiming to enhance the speed control accuracy of valve-controlled hydraulic motors under load fluctuating conditions. The method of model identification was adopted to calculate the transfer function of valve-controlled hydraulic motor based on the established hydraulic technology scheme. The chassis of the valve-controlled hydraulic motor is subsequently investigated, and a model for E-grade pavement is constructed using the harmonic superposition method. Through dynamic simulation, the load fluctuation range under two common operating conditions is determined. The fuzzy adaptive PID algorithm was subsequently designed in detail, with the error and its rate of change being considered as input parameters, while the increments of the proportional coefficient, integral constant, and differential constant were regarded as output parameters. Co-simulation data indicate that, compared with the PID algorithm, the average error of the fuzzy adaptive PID algorithm can be reduced by more than 50% and the rise time is reduced by 0.04 seconds. To validate the theoretical analysis, a tracked hydraulic chassis was developed and tested. At an expected speed of 200 rev/min, the average error decreased by 1.68 rev/min, while at an expected speed of 1000 rev/min, the average error reduced by 2.68 rev/min. The designed intelligent control algorithm can effectively improve the control accuracy and stability under load fluctuating conditions.