基于粒子群模糊PID控制的风机盘车液压缸同步控制系统  

Synchronous control system of hydraulic cylinder of fan coil car controlled by particle swarm fuzzy PID

作　　者：赵立柱 苏东海[1] 左伟 邹浩通 ZHAO Li-zhu;SU Dong-hai;ZUO Wei;ZOU Hao-tong(College of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《机电工程》2022年第7期961-966,共6页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51775354)。

摘　　要：某新型液压式风机盘车驱动缸组同步控制精度较低,为了解决这一问题,对缸组在负载力扰动作用下的同步控制策略进行了研究,提出了一种基于粒子群模糊PID控制器。首先,建立了单个驱动缸的数学模型和缸组的同步控制系统模型;其次,采用粒子群算法对模糊控制器的量化因子K_(e)、K_(ec)和比例因子K_(u)进行了迭代优化处理,并对PID控制器的3个控制参数进行了整定;然后,将两只液压缸输出位移的差值作为反馈信号,并引入误差补偿器,形成了状态差值反馈;最后,在阶跃激励信号和恒定负载扰动信号共同作用下,应用Simulink对驱动缸组的同步控制进行了仿真,并将其结果与传统PID控制器和模糊PID控制器的控制效果进行了对比分析。研究结果表明:相较于传统PID控制器与模糊PID控制器,在粒子群模糊复合PID控制下,同步系统运行稳定,无超调现象,仅存在微弱振荡;同时,系统的调节时间短,在阶跃形式扰动力影响下同步精度高,驱动缸组能够精确运动,具有很强的自适应能力。Aiming at the problem that the synchronous control accuracy of a new hydraulic fan coil car drive cylinder group was low,the synchronous control strategy of hydraulic cylinder group under load force disturbance was studied.A fuzzy PID controller based on particle swarm was proposed.Firstly,the mathematical model of single driving cylinder and the synchronous control system model of cylinder group were established.Secondly,particle swarm optimization(PSO)algorithm was used to optimize the quantization factor K_(e),K_(ec) and scale factor K_(u) of fuzzy controller iteratively,and then three control parameters of PID controller were adjusted.Then,the output displacement difference of two hydraulic cylinders was used as feedback signal,and the error compensator was introduced to form the state difference feedback.Finally,under the joint action of step excitation signal and constant load disturbance signal,the synchronous control of the drive cylinder group was simulated by Simulink,and the results were compared with traditional PID controller and fuzzy PID controller.The results show that compared with traditional PID controller and fuzzy PID controller,the synchronous system under PSO-fuzzy PID controller control runs stably,without overshoot,with only weak oscillation and short adjustment time,and the synchronization accuracy is high under the influence of step disturbance force.The driving cylinder group can move accurately,and it has strong adaptive ability.

关 键 词：液压缸 液压同步控制 风机盘车 模糊PID控制 粒子群优化算法 驱动缸组 状态差值反馈 

分 类 号：TH137.3[机械工程—机械制造及自动化] TM315[电气工程—电机]