改进型PID调节器在虚拟主轴控制中的应用研究

Research on the Application of Improved PID Controller in Virtual Spindle Control

虚拟主轴控制是最近提出的新型多机同步算法,采用多机跟随虚拟主轴以实现负载均衡,达到运行同步的目的。针对虚拟主轴控制流程,分析使用固定PID参数在负载适应性方面的控制缺陷,设计了能根据虚拟主轴运行特性实现PID参数自调节的改进算法,并通过在掘进机主驱动上进行测试,证明该改进型PID调节器具有出色的多机同步性和稳定性,提高了虚拟主轴控制的实用性。

Virtual spindle control is a new multi-machine synchronization algorithm recently proposed.It uses multiple machines to follow the virtual spindle to achieve load balance and achieve the purpose of running synchronization.According to the virtual spindle control process,the control defects of using fixed PID parameters in load adaptability are analyzed.An improved algorithm is designed to realize the self-regulation of PID parameters according to the operation characteristics of virtual spindle.The test on the main drive of the roadheader proves that the improved PID regulator has advantages of excellent multi-machine synchronization and stability,and improves the practicability of virtual spindle control.