地铁挖掘机动臂势能回收PSO-PID控制策略设计及分析

Design and Analysis of PSO-PID Control Strategy for Boom Potential Energy Recovery in Subway Excavator

响应地铁施工设备节能减排的要求,设计了一种复合结构势能的挖掘机动臂势能回收系统,该系统可以达到更高能量利用率和更优节能减排状态。在原有比例-积分-微分(Proportional Integral-Differential,PID)控制的基础上,引入粒子群优化算法(Particle Swarm Optimization,PSO)对控制进行优化,给出了基于PSO-PID控制的流量调节方式。采用液压与电气控制方式进行势能回收,利用调节液压马达排量来控制动臂运动速度,大幅降低程序设计难度。在建立系统数学模型的基础上,依托AMESim软件开展了势能回收系统分析。研究结果表明:一个循环过程可以实现回收11.1 kJ能量,达到了非常高效的能量回收性能。动臂速度表现为先增大再降低,可以获得更优的动臂控制性能。

In response to the requirements of energy saving and emission reduction of subway construction equipment,a compound structure excavator boom potential energy recovery system is designed,which can achieve higher energy utilization and better energy saving and emission reduction.On the basis of the original Proportional Integral-Differential(PID) control,Particle Swarm Optimization algorithm(PSO) was introduced to optimize the control,and the flow regulation mode based on PSO-PID control was given.Hydraulic and electrical control methods were used to recover potential energy,and the hydraulic motor displacement was adjusted to control the speed of the excavator boom,which greatly reduced the difficulty of program design.Based on the mathematical model of the system,the potential energy recovery system is analyzed by AMESim software.The results show that the energy recovery of one cycle process is 11.1 kJ,which can achieve very efficient energy recovery performance.The boom speed increases firstly and then decreases,which can obtain better boom control performance.