采用优化PID控制的电液执行器跟踪仿真研究  

Research on Tracking Simulation of Electro-hydraulic Actuator with Optimized PID Control

作　　者：赵新华[1] 杨思国[1] ZHAO Xinhua;YANG Siguo(College of Electrical Engineering,Chuzhou Vocation and Technical College,Chuzhou Anhui 239000,China)

机构地区：[1]滁州职业技术学院电气工程学院,安徽滁州239000

出　　处：《佳木斯大学学报（自然科学版）》2022年第1期52-55,共4页Journal of Jiamusi University：Natural Science Edition

基　　金：2019年安徽省高校继续教育课程远程化教学模式改革研究与实践(2019jxjj64);安徽省高校自然科学重点研究项目(KJ2019A1130)。

摘　　要：高精度的控制系统是电液执行器位移跟踪的前提,而传统控制方法容易受到外界噪声的影响,导致控制系统输出精度下降。对此,提出了一种优化算法,以提高控制系统的稳定性。首先,建立电液执行器驱动装置,推导出活塞运动位移、速度和加速度方程式。针对位移跟踪误差信号,引用了增量式PID控制方法。其次,利用遗传算法对PID控制方法进行优化,给出了电液执行器PID控制方法优化流程。最后,采用MATLAB软件对位移跟踪信号进行仿真,并且与优化前的控制方法进行对比。结果显示:采用PID控制方法,电液执行器开始阶段反应速度慢,整个阶段输出误差较大;采用遗传算法优化PID控制方法,电液执行器开始阶段反应速度快,整个阶段输出误差较小。采用遗传算法优化PID控制方法,可以提高电液执行器位移信号跟踪精度,有效地解决PID控制系统抗干扰问题。High precision control system is the premise of displacement tracking of electro-hydraulic actuator,while the traditional control method is easy to be affected by external noise,resulting in the decline of output accuracy of the control system.Therefore,an optimization algorithm is proposed to improve the stability of the control system.Firstly,the driving device of electro-hydraulic actuator is established,and the equations of piston displacement,velocity and acceleration are derived.For the displacement tracking error signal,the incremental PID control method is introduced.Secondly,the genetic algorithm is used to optimize the PID control method,and the optimization process of the PID control method of the electro-hydraulic actuator is given.Finally,the displacement tracking signal is simulated by MATLAB software,and compared with the control method before optimization.The results show that using PID control method,the reaction speed of electro-hydraulic actuator is slow at the beginning and the output error is large at the whole stage.Using genetic algorithm to optimize PID control method,the electro-hydraulic actuator has fast response speed in the initial stage and small output error in the whole stage.Using genetic algorithm to optimize PID control method can improve the tracking accuracy of displacement signal of electro-hydraulic actuator and effectively solve the anti-interference problem of PID control system.

关 键 词：电液执行器 PID控制 位移 遗传算法 仿真 

分 类 号：TH137[机械工程—机械制造及自动化]