HMCVT泵控马达系统模糊PID控制研究  

Research on Fuzzy PID Control of HMCVT Pump-Controlled-Motor System

作　　者：黄薛凯 鲁植雄[1] 陈雷 安宇辉 HUANG Xuekai;LU Zhixiong;CHEN Lei;AN Yuhui(College of Engineering,Nanjing Agricultural University,Nanjing 210031,China)

机构地区：[1]南京农业大学工学院,江苏南京210031

出　　处：《江西农业大学学报》2023年第1期189-201,共13页Acta Agriculturae Universitatis Jiangxiensis

基　　金：国家重点研发计划重点专项(2016YFD07101103)。

摘　　要：【目的】为减少由于HMCVT泵控马达系统响应迟滞以及遭受负载扰动时波动剧烈,使得拖拉机不能稳定在目标车速上的问题。【方法】以HMCVT泵控马达系统为研究对象,建立了泵控马达系统的数学模型,运用模糊PID算法对马达转速进行控制。针对标准鲸鱼算法易陷入局部收敛的问题,引入非线性变化、动态惯性权重以及遗传变异思想进行改进,并运用于PID参数的整定。【结果】以建立的传递函数为测试对象,改进后的WOA算法只需要迭代9次便能寻得最优解,相较于改进前减少了7次迭代,ITAE值降低了16.83%。相较于标准鲸鱼算法整定的模糊PID控制器,改进后的鲸鱼算法整定的模糊PID控制器在阶跃响应下系统最大超调量降低83.3%,调整时间减少0.759 s;正弦响应下最大误差减少16.41 r/min,降低了55.44%;斜坡响应下最大误差减少31.39 r/min,降低了44.58%;负载突变时最大速度减少2.2 r/min,降低了2.01%。采用试验设计的模糊PID控制器能有效实现HMCVT液压马达的变速跟踪控制,提出的改进鲸鱼算法能提高响应精度,降低误差。【结论】研究结果为装备HMCVT的拖拉机的最优经济性控制与最优动力性控制提供理论参考。[Objective]This study aims to solve the problem that the tractor cannot be stabilized at the target speed due to the response lag of the HMCVT pump-controlled motor system and the violent fluctuation when subjected to load disturbance.[Method]Taking HMCVT pump-controlled motor system as the research object,the mathematical model of pump-controlled motor system was established,and the motor speed was controlled by fuzzy PID algorithm.Aiming at the problem that the standard whale algorithm was easy to fall into local convergence,the idea of nonlinear change,dynamic inertia weight and genetic variation was introduced to improve and applied to the tuning of PID parameters.[Results]Taking the established transfer function as the test object,the improved WOA algorithm iterated only for 9 times to find the optimal solution.Compared with 7iterations before the improvement,the ITAE value was reduced by 16.83%.Compared with the fuzzy PID controller tuned by the standard whale algorithm,the fuzzy PID controller tuned by the improved whale algorithm reduced the maximum overshoot of the system by 83.3% and the adjustment time by 0.759 s under the step response.The maximum error under sinusoidal response was reduced by 16.41 r/min,which was a reduction of 55.44%.The maximum error under slope response was reduced by 31.39 r/min,which was a 44.58% reduction.The maximum speed drop was reduced by 2.2 r/min,which was a reduction of 2.01%.[Conclusion]The research results provide a theoretical reference for the optimal economic control and optimal dynamic control of tractors equipped with HMCVT.

关 键 词：泵控马达系统 转速控制 改进的鲸鱼算法 模糊PID 

分 类 号：S219[农业科学—农业机械化工程]