遗传算法优化前馈PID控制电液系统研究  

Optimization of feedforward PID control electro hydraulic system based on genetic algorithm

作　　者：吴晓莉[1] 张雷 WU Xiaoli;ZHANG Lei(Engineering College,Xianning Vocational and Technical College,Xianning 437000,Hubei,China;School of Mechanical Engineering,Hunan University of Science and Technology,Xiangtan 411201,Hunan,China)

机构地区：[1]咸宁职业技术学院工学院,湖北咸宁437000 [2]湖南科技大学机械工程学院,湖南湘潭411201

出　　处：《中国工程机械学报》2020年第2期125-130,共6页Chinese Journal of Construction Machinery

基　　金：湖南省自然科学基金资助项目(2014JJ2153);湖南省教育厅资助项目(12C0453)。

摘　　要：电液比例系统由于维护成本低、维护难度小、环境适应性强等优点,被广泛应用于远程控制和恶劣的工作环境。针对比例阀具有低带宽、大死区和流量非线性以及高非线性摩擦等特性,降低了系统的控制性能。为达到伺服系统控制性能,设计了一种前馈控制来补偿系统的非线性,利用PID位置反馈补偿系统未建模的影响,并采用实数编码遗传算法对控制器参数进行优化。阶跃响应和正弦响应结果表明:系统输出达到了伺服控制系统的精度,证明了所设计的控制器的可行性。Electro hydraulic proportional system is widely used in remote control and harsh working environment due to its low maintenance cost,small maintenance difficulty and high environmental adaptability.Aiming at the characteristics of proportional valve,such as low bandwidth,large dead zone,high flow nonlinearity and high non-linearity friction,the control performance of the system is reduced.In order to achieve the control performance of the servo system,a feedforward control is designed to compensate the nonlinearity of the system.The PID position feedback is used to compensate the unmodeled influence of the system,and the real number coded genetic algorithm is used to optimize the controller parameters.The results of step response and sinusoidal response show that the output of the system reaches the accuracy of the servo control system,which proves the feasibility of the controller designed in this paper.

关 键 词：电液比例系统 遗传算法 前馈控制 PID 非线性 摩擦 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]