基于蚁群算法的起重机变幅控制系统动态特性研究

Dynamic characteristic analysis of crane luffing controlsystem based on ant colony algorithm

针对传统汽车起重机变幅液压缸位置控制性能不佳的问题,以某型汽车起重机为例,对其变幅液压缸位置控制系统进行了仿真分析和试验研究。将汽车起重机常用的电磁换向阀换成控制精度更高的比例换向阀,对变幅液压缸位置控制系统进行了改进;在建立系统数学模型基础上,分别采用Ziegler-Nichols算法、蚁群算法和果蝇算法对PID参数进行了优化,并对加入不同PID参数的系统控制性能进行了仿真分析;最后搭建了试验平台,对系统控制性能进行了测试,通过分析试验数据对仿真结果进行了验证。研究结果表明:加入蚁群算法优化的PID参数后,系统控制性能优于加入其他两种算法优化PID参数后的系统,其更能满足汽车起重机对于变幅液压缸控制性能的要求。

Aiming at the problem of poor position control performance of luffing hydraulic cylinder of traditional truck crane,a type truck crane was adopted as an example,the system simulation analysis and test of its luffing hydraulic cylinder position control system were carried out.The position control system of luffing hydraulic cylinder was improved by replacing the electromagnetic directional valve used in truck crane with proportional directional valve of higher control precision.Based on the establishment of the system mathematical model,the PID parameters were respectively optimized by Ziegler Nichols algorithm,ant colony algorithm and drosophila algorithm,and the control performance of the system with different PID parameters was simulated.Finally,a test platform was built to test the control performance of the system,and the simulation results were verified by analyzing the test data.The results show that the system control performance of PID parameters optimized by ant colony algorithm is better than the system with PID parameters optimized by the other two algorithms,and it can meet the requirements of truck crane for luffing hydraulic cylinder control performance.