摘要
为了解决挖掘机履带行驶机构双电机系统的协同控制问题,采用模糊控制与遗传算法对底盘电驱动系统的控制策略及其优化方法进行了。首先建立了双电机独立驱动的挖掘机底盘系统模型,进而设计了双电机驱动控制策略并基于模糊遗传算法进行了控制策略的优化,为了验证所设计的控制策略,通过MATLAB软件对所设计的模糊控制策略进行了计算机仿真,仿真结果表明所提出的控制算法可以实现良好的挖掘机行驶性能,控制效果良好,转向半径平稳且转向过程中速度稳定。
In order to solve the problem of excavator tracked travel organization＇s dual-motor cooperative control, control strategy and optimization method of chassis electric driving system was studied by using the fuzzy control and genetic algorithm. Firstly, a dual-motor independently driven excavator undercarriage system model was built. Secondly, the control strategy was-established and optimized on the basis of fuzzy and genetic algorithm. In order to verify the effect of the presented strategy, computer simulation was made for the proposed fuzzy Control strategy through MATLAB software. Simulation results indicated that the proposed control algorithm could achieve good excavator driving peyote, control effect is good, steering radius is steady and velocity during steering is stable.
出处
《机械设计与制造》
北大核心
2014年第10期220-223,共4页
Machinery Design & Manufacture
基金
西华大学重点实验室开放基金资助项目(S2jj2012-036)
中央高校基本科研业务费专项资金资助(N110303007)
关键词
挖掘机
电控系统
模糊控制
计算机仿真
Excavator
Electronic Control System
Fuzzy Control
Computer Simulation
