基于模糊PID的混合动力挖掘机回转制动研究

An Investigation on Swivel Braking of Hybrid-power Excavator Based on Fuzzy PID Modifications of Submersible Mixer Impeller and Its Numerical

针对油电混合动力挖掘机回转的制动超调以及制动后的自锁问题,设计了一种带修正规则的模糊PID控制算法,并将该算法应用于回转制动控制。在AMESIM与MATLAB平台上运用上述控制算法对回转制动过程进行了联合仿真,仿真结果表明,设计的控制算法相对于传统的PID控制算法而言,在回转制动及停车自锁的情况下,能够较明显改善对混合动力挖掘机回转的平稳控制。该算法经实际应用后测试表明,其综合性能不但能满足实际操作要求,而且具有较好的节油性和较强的实用性。

Aiming at the issues on overshoot during swivel braking and self-locking after the braking in hybrid oil-electric power excavator, the design of a fuzzy PID control algorithm with correction rules is designed and the algorithm is applied to the swivel braking control. A joint simulation for the swivel braking process is conducted by introducing the aforesaid control algorithm on MATLAB and AMESIM platform. Simulation results show that compared to conventional PID control algorithm, the designed control algorithm can improve significantly the smooth swivel control of the hybrid power excavator in case of swivel braking and self-locking for parking . Tests after practical application of the algorithm show that its overall performances are not only able to meet practical requirements, but also have better fuel economy and strong practicability.