基于PSO-Fuzzy PID的重载无人叉车液压马达同步控制策略

Hydraulic Motor Synchronous Control Strategy of Heavy-duty Unmanned Forklift Based on PSO-Fuzzy PID

为保证重载无人叉车正常运行,减小对液压马达的同步控制偏差,提出一种基于粒子群优化的模糊PID方法(PSO-Fuzzy PID)的重载无人叉车液压马达同步控制策略。首先建立叉车液压马达的数学模型,其次基于叉车运行参数获得改进特征函数,利用特征值表示叉车运行状态,并作为PID方法、模糊PID方法和粒子群优化的模糊PID方法的输入。最后,相同条件下,通过比较三种不同方法下转速变化以及角度变化,验证了PSO-Fuzzy PID方法抗干扰能力好、调节能力佳。

A particle swarm optimization(PSO)Fuzzy PID method based on synchronization control strategy for heavy-duty unmanned forklifts was proposed for the operation and less synchronization control deviations of hydraulic motors.The mathematical model of the forklift hydraulic motor was established,and the improved characteristic function was obtained through the operating parameters of the forklift.The eigenvalue was used to represent the operating state of the forklift,and was the input of PID method,fuzzy PID method and PSO-Fuzzy PID method.By comparing the speed and angle changes with three different methods under the same condition,it was concluded that the PSO-Fuzzy PID method had good anti-interference and adjustment abilities.