基于遗传算法的芦苇笋采收机模糊PID控制策略研究  

Research on Fuzzy PID Control Strategy of Reed Shoot Harvester Based on Genetic Algorithm

作　　者：张秋尧 高自成[1] 贾国海 刘怀粤 刘姜毅 ZHANG Qiu-yao;GAO Zi-cheng;JIA Guo-hai;LIU Huai-yue;LIU Jiang-yi(College of Mechanical and Electrical Engineering,Central South University of Forestry and Technology,Changsha,Hunan 410000)

机构地区：[1]中南林业科技大学机电工程学院,湖南长沙410000

出　　处：《液压与气动》2023年第1期103-110,共8页Chinese Hydraulics & Pneumatics

基　　金：湖南省重点领域研发计划(2019NK2022)。

摘　　要：芦苇笋采收机在工作时需人工实时操纵输出电压来适应负载力矩的变化,为提高采收效率和降低操作难度,提出了一种基于遗传算法的模糊控制PID算法以实现芦苇笋采摘装置同步带转速的智能控制。通过分析芦苇笋采摘装置的工作原理,建立了控制电压和负载力矩输入和液压马达输出轴角速度输出的状态方程数学模型;利用MATLAB/Simulink软件设计通过遗传算法优化隶属度函数和模糊规则的Mamdani模糊PID控制器,对液压马达的状态方程进行仿真。结果表明:采用遗传算法优化的模糊PID控制器相较于普通PID控制器和模糊控制器能够对输入信号更迅速地做出响应,且上升过程平稳无超调,有较强的抗干扰能力,鲁棒性较强,满足对芦苇笋采收机工作过程的简化操作和提高效率的控制要求。In order to improve the harvesting efficiency and reduce the operation difficulty,a fuzzy control PID algorithm based on genetic algorithm is proposed to realize the intelligent control of synchronous belt speed of reed shoot harvesting device.By analyzing the working principle of the reed shoot picking device,the mathematical model of state equation for controlling the input of voltage and load torque and the output of the angular velocity of the output shaft of the hydraulic motor was established;The Mamdani fuzzy PID controller is designed by using MATLAB/Simulink software to optimize the membership function and fuzzy rules through the genetic algorithm,and the state equation of the hydraulic motor is simulated.The results show that:compared with ordinary PID controller and fuzzy controller,the fuzzy PID controller optimized by genetic algorithm can respond to the input signal more quickly,and the rising process is stable without overshoot.It has strong anti-interference ability and strong robustness,and meets the control requirements of simplifying the operation and improving the efficiency of the reed shoot harvester.

关 键 词：芦苇笋采收机 遗传算法 模糊PID控制 MATLAB/SIMULINK仿真 

分 类 号：TH137[机械工程—机械制造及自动化]