新型萤火虫算法及在采煤机自动调高PID控制中的应用

New firefly algorithm and its application in the shearer’s automatic height-adjusting PID control

为了提高采煤机自动调高控制系统的工作性能,提出了一种新型萤火虫算法优化PID控制器的控制策略。在标准萤火虫算法的位置更新公式中,通过改变惯性权重策略加快优化初期寻优速度,增强算法的全局探测能力,同时利用步长单调递减对移动步长进行改进,增强算法后期的深度搜索能力。通过建立电液比例伺服系统的数学模型,利用新型萤火虫算法对PID控制器进行参数整定优化,并引入能量指标和超调量指标对适应度函数进行改进,在MATLAB和AMESim环境下建立其控制系统及液压系统联合仿真模型并进行仿真分析。研究结果表明:优化后的采煤机自动调高控制系统具有良好的控制品质及鲁棒性,快速性、稳定性、抗干扰能力等方面均有明显提高。

In order to improve the performance of the shearer’s automatic control system,a new firefly algorithm is worked out to optimize the controlling strategy of PID controller.In the position-updating formula of the standard Firefly algorithm,the initial optimization speed is accelerated by changing the inertial weight strategy,and the capability of global detection is enhanced.Based on the mathematical model of electrohydraulic proportional servo system,the new firefly algorithm is adopted to optimize the PID controller’s parameters,and the adaptive function is improved by introducing the energy and overregulation index.With the aid of MATLAB and AMESim,the joint simulation models of both the control system and the hydraulic system are set up,and the simulation analysis is conducted.The results show that the shearer’s control system,which has been optimized,boasts its excellent control quality,robustness,rapidity,stability and strong capability of anti-interference.