大臂耦合运动串级PID复合控制方法研究  

Research on Cascade PID Composite Control Method of Boom Coupling Motion

作　　者：陈强 陈帅 徐受天 徐剑安 荆留杰 CHEN Qiang;CHEN Shuai;XU Shoutian;XU Jianan;JING Liujie(China Railway Engineering Equipment Group Co.,Ltd.,Zhengzhou Henan 450016,China)

机构地区：[1]中铁工程装备集团有限公司,河南郑州450016

出　　处：《机床与液压》2023年第22期91-97,共7页Machine Tool & Hydraulics

基　　金：国家重点研发计划资助项目(2021YFB2301000)。

摘　　要：针对自动模式下凿岩台车大臂摆动和俯仰因耦合运动难以控制的问题,提出一种大臂耦合运动串级PID复合控制算法。根据大臂机械结构简图分析大臂俯仰和摆动两关节产生耦合运动的原因;分析位置式PID、增量式PID分别适用于串级PID的位置环和速度环,设计出耦合运动串级PID复合控制算法,并解释具体推算过程;通过在样机试验平台上进行搭载测试,验证了该控制算法的有效性和控制系统的稳定性。研究结果表明:该控制算法能有效解决大臂耦合运动问题,串级PID内、外环配合使控制系统稳定性好;在阶跃信号下目标角度的超调量小(0.5%),在斜坡信号下油缸运动速度动态跟随效果好,其角度误差波动率最大为15.87%。When the rock drilling jumbo uses the automatic mode,its boom swing and pitch have coupled motion,which is a difficult problem to solve.Therefore,a cascade PID compound control algorithm for boom coupled motion was proposed.According to the schematic diagram of the mechanical structure of the boom,the reasons for the coupled motion of the boom pitch and swing joints were analyzed.Then,the positional PID and incremental PID were analyzed,which were suitable for the position loop and speed loop control of the cascade PID,respectively.The coupled motion cascade PID compound control algorithm was designed,and the specific calculation process was explained.Finally,the control system was tested on the test platform,the effectiveness of the control algorithm and the stability of the control system were verified.The research results show that the control algorithm can be used to effectively solve the problem of boom coupling motion,and the inner and outer loop coordination of cascade PID makes the control system stable;un⁃der the step signal,the overshoot of target angle is small(0.5%),and under the slope signal,the dynamic tracking effect of cylinder motion speed is good,and the maximum fluctuation rate of angle error is 15.87%.

关 键 词：液压机械臂 耦合运动 串级PID 复合控制 稳定特性 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]