基于改进PSO的起重机双马达同步模糊PID控制研究

Synchronous fuzzy PID control of crane double-motors based on improved PSO

重型起重机液压起升系统在吊装过程中存在双马达同步误差问题,为保证吊装作业安全,对起重机液压起升系统的双马达同步控制策略进行了研究。首先,分析了起重机起升系统主要元件的动态特性,确定了起升系统控制参数指标;然后,通过引入存储向量的方法,对粒子群算法的更新策略进行了改进,解决了其“过早熟”的问题,再利用得到的改进粒子群算法优化了模糊PID控制器的参数,解决了PID参数无法在线整定的问题;最后,为了提高起升系统的同步控制精度,在交叉耦合控制的基础上,将所提出的控制策略用于起重机双马达起升过程,并以吊钩倾角、马达出口压力为控制指标进行了仿真和试验。研究结果表明:改进粒子群模糊PID控制策略能有效控制双马达的同步精度,抗干扰能力强;与采用的其它算法相比,采用改进粒子群算法策略的控制精度提高了60%左右;该研究为提高双马达同步控制精度提出了新方法,也为起重机控制系统设计提供了理论参考。

Aiming at the problem of double motor synchronization error in the hoisting process of hydraulic lifting system of heavy crane,the double motor synchronization control strategy was investigated to ensure operation safety.The dynamic characteristics of the main components of the lifting system were analyzed to determine the control parameters.And the update strategy of particle swarm optimization algorithm was improved by introducing the method of storage vector to solve the problem of"too premature".After that,the improved particle swarm optimization algorithm was used to optimize the parameters of fuzzy PID controller.It was helpful to solve the problem that PID parameters could not be adjusted online.Based on the cross-coupling control,the proposed control strategy was applied to the lifting process of crane double motors for improving the accuracy of synchronous control.In following,the simulation and experiments were carried out with the hook inclination and motor outlet pressure as the control indexes.The results show that the improved particle swarm fuzzy PID control strategy can effectively control the synchronization accuracy of dual motors and have strong anti-interference ability.Comparing with other algorithms,the control accuracy was improved by about 60%.This study can not only put forward a new method to improve the accuracy of dual motor synchronous control,but also provide a theoretical reference for the design of crane control system.