基于PSO带式输送机PID控制器参数智能整定的适应度函数设计  

Design of Fitness Function for Intelligent Parameter Tuning of PID Controller on Belt Conveyor with PSO

作　　者：吉建华 苗长云 李现国[3] 刘意[1,3,4] 姬政海 JI Jianhua;MIAO Changyun;LI XianguoLIU Yi;JI Zhenghai(School of Mechanical Engineering,Tiangong University,Tianjin 300387;Department of Information Engineering,Tianjin Renai College,Tianjin 301636;Tianjin Photoelectric Detection Technology and System Key Laboratory,Tiangong University,Tianjin 300387;Center for Engineering Internship and Training,Tiangong University,Tianjin 300387;Wuhai Energy Co.,Ltd.,National Energy Group,Wuhai 016000)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津仁爱学院信息工程系,天津301636 [3]天津工业大学天津市光电检测技术与系统重点实验室,天津300387 [4]天津工业大学工程教学实习训练中心,天津300387 [5]国家能源集团乌海能源有限责任公司,乌海016000

出　　处：《机械工程学报》2023年第22期444-456,共13页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51274150);天津市重点研发计划科技支撑重点(18YFZCGX00930);天津市重点研发计划成果转化接力(18YFJLCG00060)资助项目。

摘　　要：带式输送机是一种现代化生产中重要连续运输设备,为提高其速度控制性能,解决调速过程存在的平均加速度不合理,超调量和振荡大的问题,设计出一种变权综合型适应度函数。该适应度函数中的误差绝对值积分部分用于优化比例-积分-微分(Proportional-integral-derivative,PID)控制器的综合性能;加速度调节部分用于在符合现行带式输送机设计规范前提下设定平均加速度;超调量抑制部分用于实现被控对象的响应速度无超调和振荡;稳态误差抑制部分用于保证被控对象响应速度的稳态误差为零。仿真试验结果表明,采用基于变权综合型适应度函数的粒子群优化算法(Particle swarm optimization,PSO)智能整定PID控制器参数,实现带式输送机平稳调速,平均加速度符合带式输送机设计规范且可调,响应速度快,无超调、无振荡、零稳态误差,有效降低对带式输送机造成损坏,提高控制性能;其适应度函数的参数易于获取、PID控制器的初始参数可随机设置,参数整定过程简便,易于实现,利于工程应用,在煤炭、港口、电力、矿山、冶金、化工、农业等领域具有重要应用价值。Belt conveyor is an important continuous transportation equipment in modern production.In order to improve its speed control performance and solve the problems of unreasonable average acceleration,large overshoot and oscillation in the speed regulation process,a variable weight comprehensive fitness function is designed.The fitness function consists of four parts:the part of integral absolute error(IAE)is responsible for optimizing the comprehensive control performance of the proportional-integral-derivative(PID)controller,the acceleration adjustment part to adjust the average acceleration on the premise of meeting the current design specification of the belt conveyor,the overshoot suppression part is used to realize the response speed of the controlled object without overshoot and oscillation;and the steady-state error suppression part is used to ensure that the steady-state error of the response speed of the controlled object is zero.The simulation results show that by using particle swarm optimization(PSO)algorithm intelligent tuning PID controller parameters based on variable weight comprehensive fitness function,the belt conveyor can realize smooth speed regulation,the average acceleration meets the belt conveyor design specification and is adjustable,the response speed is fast,there is no overshoot,oscillation and zero steady-state error.The damage to the belt conveyor is effectively reduced and the control performance is improved.The parameters of the fitness function are easy to obtain,the initial parameters of the PID controller can be set randomly,and the parameter setting process is simple and easy to implement,which is conducive to engineering application.The fitness function greatly improves the control performance of belt conveyor,and has certain theoretical significance and broad application value in coal,port,electric power,mining,metallurgy,chemical industry,agriculture and other fields.

关 键 词：带式输送机 速度控制 适应度函数 比例-积分-微分控制器 粒子群优化算法 智能整定 

分 类 号：TH222[机械工程—机械制造及自动化] TP232[自动化与计算机技术—检测技术与自动化装置]