液压挖掘机系统控制参数的免疫优化整定方法(英文)

Immune-based Optimization Tuning Model of Controller Parameter in Hydraulic Excavator System

液压系统是工程机械的神经系统,变量泵是液压系统的中枢神经,其工作好坏直接影响工程机械的性能和施工效率。针对步进电机控制机械转换机构可满足液压挖掘机控制系统中泵、阀、缸三者的良好匹配以实现无级变速,但是并未解决最佳动力性和最佳燃油经济性控制的问题,提出了一种基于免疫优化控制的参数整定方法。该方法将节能目标函数作为约束条件直接引入控制器参数的寻优过程,借助免疫优化算法整定控制器参数,所整定的参数既可保证控制器良好的动静态控制品质,同时也兼顾了节能的最优性。文中对多种不同算法的整定参数作了仿真对比实验研究,系统响应曲线显示基于免疫优化的整定参数有更好的控制效果。仿真结果表明,所提出的控制器参数免疫优化整定方法用于液压挖掘机控制系统参数整定是合理与可行的。

Hydraulic pressure transmission is a nervous system of engineering machinery, and a variable pump is the central nervous system of hydraulic pressure system, therefore the performance of the pump will directly determine the performance and efficiency of engineering machinery. Since the switching mechanism of control machinery in stepper motor could better satisfy the match to realize the CVT transmission among the variable flow hydraulic pump, hydraulic valve and hydraulic actuating cylinder, and it could not realize the optimal power performance and the optimal economy control of current fuel, a sort of immune-based optimization tuning method for controller parameter is proposed in this paper. This method took the objective function of energy conservation as the constraints, and the objective constraints will be directly introduced into the optimization process of controller parameter, by means of immune-based optimization algorithm, the selected controller parameter could not only ensure the control quality of the system in dynamical and static performance, but also give attention to two or more things of optimality in energy conservation. In this paper, the comparisons between different control algorithm has been made and the response curves of system show that the proposed method has better control effect for the tuning parameters. Therefore, this method is reasonable and feasible in the control system of hydraulic excavator.