基于自适应粒子群的农机自动转向系统分数阶控制  

Fractional-order control for automatic steering system of agricultural machinery based on self-adapt particle swarm optimization algorithm

作　　者：张瑶 李佩娟 贾茜 刘树青 ZHANG Yao;LI Pei-juan;JIA Qian;LIU Shu-qing(Industrial Center,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院工业中心

出　　处：《甘肃农业大学学报》2019年第4期199-204,共6页Journal of Gansu Agricultural University

基　　金：江苏省自然科学基金项目(BK20170766);南京工程学院基金项目(YKJ201531)

摘　　要：【目的】针对电控液压式农机自动转向系统的不稳定及响应慢等特点,提出一种分数阶PI^λD^μ控制器控制农机自动转向系统的方法.【方法】首先根据分数阶的控制原理,设计分数阶PI^λD^μ控制器,并建立控制系统的仿真模型,最后应用自适应粒子群算法优化分数阶PI^λD^μ控制器的5个参数(kp,ki,kd,λ,μ),避免粒子群算法陷入局部最优.为验证该方法的性能,采用文献[12]的试验平台,对系统进行多种信号的仿真跟踪.【结果】在迭代5次左右模型稳定,阶跃信号跟踪实验中,上升时间是0.0125 s,超调量0.01%,稳态误差是0,优于传统PID的控制效果,正弦信号与随机信号仿真跟踪实验效果良好,模型抗扰动能力强.【结论】仿真实验表明,设计的自适应粒子群分数阶控制方法对提高农机自动转向控制系统的稳定性、快速性及精度具有重要意义.【Objective】 Aimed to resolve the problem of the instability and slow response of the agricultural mechanization system with electronically controlled hydraulic,a design approach of fractional-order PI^λD^μ controller was provided.【Method】 According to the principle of the fractional-order,the fractional order PI^λD^μ controller was designed and the simulation model of the control system was established,and the self-adapt particle swarm optimization method was used to tune fractional-order PI^λD^μ controller parameters for avoiding sinking into local optima.【Result】 In order to verify the performance of this method,the experimental platform of literature 12 was adopted to carry out simulation tracking of various signals in the system. The experimental results showed that the model was stable after 5 iterations,and in the step signal tracking experiment,the rising time was 0.012 5 s,the overshoot was 0.01%,and the steady-state error was 0,which was better than the control effect of the traditional PID method. The simulation tracking experiment of sinusoidal signal and random signal showed satisfied effect,and the model performed a strong anti-disturbance ability.【Conclusion】 The simulation results show that the designed adaptive particle swarm fractional order control method is of great significance to improve the stability, rapidity and accuracy of the automatic steering control system of agricultural machinery.

关 键 词：农机 转向控制 分数阶PI^ΛD^Μ控制器 自适应粒子群算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]