基于遗传PID的动静液复合转向优化控制研究  

Research on GA-PID based hydrodynamic and hydrostatic steering system optimization

作　　者：金涛涛[1] 李平康[1] 赵立策[2] 

机构地区：[1]北京交通大学大学机械与电子控制工程学院,北京100044 [2]中国水利水电科学研究院,北京100044

出　　处：《北京交通大学学报》2011年第3期20-25,共6页JOURNAL OF BEIJING JIAOTONG UNIVERSITY

基　　金：国家自然科学基金资助项目(61074104);北京交通大学优秀博士生科技创新基金资助项目(141083522)

摘　　要：由于履带车辆常运行于恶劣的环境中,采用动静液复合转向机构的某型履带车辆在转向过程中,静液系统压力存在较大的波动,严重影响了车辆的转向等性能.为了使履带车辆动、静液系统配合平稳,采用电液比例阀替代实车上采用的充油阀,并在Matlab仿真平台下建立了动静液复合转向的系统模型,对转向过程的静液系统压力变化等情况进行了仿真.为了改善系统的综合性能,设计了遗传PID控制器,控制器可根据静液系统压力波动状况实时控制进入液力耦合器的油量.仿真结果表明,改进后的系统工作过程平稳,动态响应迅速,能够很好地抑制了转向过程中静液系统压力的波动,提高了车辆转向的综合性能.As the tracked vehicles often run in harsh environment,a certain type of tracked vehicles with hydrodynamic and hydrostatic steering mechanism often have a big pressure fluctuation in the hydrostatic system in the steering process and the steering properties are seriously affected.In order to smooth match the hydrodynamic and hydrostatic steering mechanism,we implemented the electro-hydraulic proportional valves instead of the oil-filling valves that equipped in the real vehicle and modeled the steering system in the Matlab/Simulink platform in this paper.A PID controller that optimized by the Generic Algorithm（GA） can control the oil flowing into the hydraulic equipped according to the fluctuation of pressure was designed.The simulation results showed that the optimized system inhibited the pressure fluctuation well,with a rapid dynamic response and good steering performance.

关 键 词：履带车辆 动静液复合转向 电液比例控制 遗传PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]