单叶片吊具鲸鱼优化算法模糊PID控制研究  

Research on whale optimization fuzzy PID control of single blade lifting

作　　者：常昊 苏东海[1] 夏制 张冰玉 CHANG Hao;SU Dong-hai;XIA Zhi;ZHANG Bing-yu(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：《重型机械》2023年第3期52-56,共5页Heavy Machinery

摘　　要：针对某单叶片吊具摆臂角度控制缸组同步控制精度较低的问题,提出了一种基于鲸鱼优化变论域模糊PID控制器。建立了单个液压缸的数学模型和双液压缸同步控制的模型,并针对模糊控制器利用鲸鱼优化算法对模糊基本论域伸缩因子表达式中的变量系数k_(1)与k_(2)优化处理,输出ΔK_(P)、ΔK_( I)、ΔK_(D)实时调节PID参数。通过对模糊PID控制、PID控制、鲸鱼优化算法模糊PID控制的仿真分析,验证了与PID控制和模糊PID控制相比,鲸鱼优化算法模糊PID的同步控制精度更高,同步误差消减的更快速且误差峰值较低;阶跃响应性能更优秀。For the problem of low synchronous control accuracy of a single blade lifting tool swing arm angle control cylinder group,a fuzzy PID controller based on whale optimization algorithm(WOA)is designed.Mathematical modeling of a single hydraulic cylinder and synchronous control simulation modeling of double hydraulic cylinders are carried out.For the fuzzy controller,the whale optimization algorithm is used to optimize the parameter variable value k_(1) and k_(2) in the expression of the fuzzy basic domain expansion factor,and outputΔK_(P),ΔK_( I),andΔK_(D) to adjust the PID parameters in real time.By simulating and analyzing the fuzzy PID control,PID control,and whale optimization algorithm fuzzy PID control,it verifies that the synchronous control accuracy of whale optimization algorithm fuzzy PID is higher than that of PID control and fuzzy PID control,and the synchronous error is reduced faster and the error peak is lower,it’s step response performance is better.

关 键 词：单叶片吊具 模糊PID控制 电液伺服系统 

分 类 号：TH137[机械工程—机械制造及自动化]