摘要
新型挖拔式木薯收获机拔起速度控制系统控制的重点在于使用PID算法进行闭环控制液压马达的输出。为此,针对传统的PID参数调整优化方法费时费力的问题,以广西大学研制的新型木薯收获机控制系统为对象,采用PSO算法,以液压系统的传递函数为目标,对PID算法进行参数优化,且进行了田间试验验证。结果表明:采用PSO算法,对控制系统参数进行优化可行,且便捷;当木薯收获机控制系统的参数Kp、Ki、Kd分别为0.644 1、2. 726 9、0. 036 2时,控制效果良好,性能稳定。
The key of cassava harvester controller is to control the output of hydraulic motor.It is usually using PID algorithm for closed loop control.In this paper,it is pointed at the problem of time-consuming and laborious for the traditional PID parameter adjustment and optimization method.The PSO algorithm is used to optimize the PID algorithm with the transfer function of the hydraulic system as the goal,and field experiments are carried out to verify it.The results show that the PSO algorithm is feasible and convenient for controller parameters optimization.When the parameters of cassava harvester controller,Kp,Ki and Kd are 0.644 1,2.726 9 and 0.036 2,the control effect is good and the performance is stable.
作者
王锦涛
杨望
杨坚
郑贤
戚鹏伟
Wang Jintao;Yang Wang;Yang Jian;Zheng Xian;Qi Pengwei(College of Mechanical Engineering,Guangxi University,Nanning 530004,China)
出处
《农机化研究》
北大核心
2019年第9期28-33,61,共7页
Journal of Agricultural Mechanization Research
基金
国家自然科学基金项目(51565003
51365005)
关键词
木薯收获机
控制系统
PID
PSO算法
参数优化
cassava harvester
controller system
PID
PSO algorithm
parameters optimization
