改进的PSO算法在摊铺机行驶控制器中的应用

Improved PSO and its application in driving system controller of asphalt paver

摊铺机行驶系统为液压伺服系统,具有非线性、时变的特点。针对行驶系统控制器PID参数整定困难且不同工况下参数整定烦琐及易出现较大的振荡和超调使控制结果不理想等问题。提出一种非线性变权重、随机学习因子、并行搜索PSO算法的PID控制器参数优化方法。利用MATLAB语言对摊铺机行驶系统近似模型进行了仿真分析,仿真结果在保证PID控制稳定性基础上提高了PID控制的精度。与混沌优化方案进行了比较,ITAE性能指标值的精度提高了6个数量级,结果表明该改进的PSO算法实现简单,对参数初值设置不敏感,鲁棒性强,快速有效地实现了PID参数的全局优化。在稳定、超调量、响应时间、调节时间几项综合性能上优于混沌优化算法,表明了此算法在PID参数整定中的有效性及应用前景。

The hydraulic servo system of asphalt paver has nonlinear and time-varying features.The parameters of PID controller of its driving system is difficult to tune,and tuning parameters under different working conditions is cumbersome,and the result is prone to setting large oscillation and overshoot,which is not satisfactory and so on.A improved PSO algorithm optimization based on nonlinear variable weight and random learning factor and parallel searching was proposed.The simulation and analysis by MATLAB software were carried out and the results was ensur-ing the stability of PID control and improving accuracy.It was compared with the chaos optimization algorithm,and the ITAE performance index value of precision is increased by 6 orders of magnitude,and the results show that the algo-rithm is easy-implementation and nonsensitive of initial value of the parameter settings and strong robustness,and can get the global optimizing parameters fast and effective.The improved PSO algorithm is better than chaos optimization algorithm in stability,overshoot,response time,setting time,which show that this algorithm PID parameter tuning is effectiveness and will be applicated widely.