电液执行器非线性PID控制优化仿真研究  

Simulation study on nonlinear PID control optimization of electrohydraulic actuators

作　　者：张玉培 张宇飞 ZHANG Yupei;ZHANG Yufei(School of Economics,Henan Kaifeng College of Science Technology and Communication,Kaifeng 475001,Henan,China;School of Environmental Municipal Engineering,Xi’an University of Architecture and Technology,Xi’an 710055,Shaanxi,China)

机构地区：[1]河南开封科技传媒学院经济学院,河南开封475001 [2]西安建筑科技大学环境与市政工程学院,陕西西安710055

出　　处：《中国工程机械学报》2024年第4期458-462,共5页Chinese Journal of Construction Machinery

基　　金：国家自然科学基金资助项目(52370119)。

摘　　要：为了提高电液执行器运动轨迹的跟踪精度,提出了一种非线性比例-积分-微分(PID)控制优化方法,通过仿真检验优化后的控制系统输出结果,构建了电液系统数学模型。对传统PID控制参数进行改进,设计了一种非线性PID控制方法。引用粒子群算法并进行改进,利用改进粒子群算法迭代搜索原理对非线性PID控制器参数进行在线调整,最终得到电液执行器最优控制参数值,使电液执行器具有更好的抗负载干扰能力。以电液执行器不同工况为例,利用Matlab软件对电液执行器运动轨迹进行仿真,比较空载和负载条件下输出结果。结果显示:在空载条件下,分别采用PID控制、非线性PID控制和优化非线性PID控制方法,电液执行器运动轨迹输出误差均较小,相差不大。在负载条件下,优化非线性PID控制方法明显优于PID控制和非线性PID控制方法,相比之下使用优化非线性PID控制方法,电液执行器运动轨迹输出误差较小。采用改进粒子群算法优化非线性PID控制方法,使电液执行器能够抑制负载工况的干扰,具有较高的跟踪精度。In order to improve the tracking accuracy of the motion trajectory of electro-hydraulic actuators,a nonlinear proportional integral derivative(PID)control optimization method is proposed,and the optimized control system output results are verified through simulation.A mathematical model of the electro-hydraulic system was presented,and a nonlinear PID control method was designed to improve the traditional PID control parameters.Referencing particle swarm optimization algorithm and improving it,utilizing the iterative search principle of improved particle swarm optimization algorithm to adjust the parameters of nonlinear PID controller online,ultimately obtaining the optimal control parameter value of the electro-hydraulic actuator,making the electrohydraulic actuator have better resistance to load interference.Taking different working conditions of an electro-hydraulic actuator as an example,Matlab software is used to simulate the motion trajectory of the electro-hydraulic actuator and compare the output results under no-load and load conditions.The results show that under no-load conditions,using PID control,nonlinear PID control,and optimized nonlinear PID control methods,the output error of the motion trajectory of the electro-hydraulic actuator is relatively small,and the difference is not significant.Under load conditions,the optimized nonlinear PID control method is significantly superior to PID control and nonlinear PID control methods,and the output error of the motion trajectory of the electro-hydraulic actuator is relatively small.By using an improved particle swarm optimization algorithm to optimize the nonlinear PID control method,the electro-hydraulic actuator can suppress the interference of load conditions and has high tracking accuracy.

关 键 词：电液执行器 非线性PID控制 改进粒子群算法 优化 仿真 

分 类 号：TH137[机械工程—机械制造及自动化]