PID Controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System

A proportional integral derivative （PID） controller is designed and attached to electro-hydraulic servo actuator system （EHSAS） to control the angular position of the rotary actuator which control the movable surface of space vehicles. The PID gain parameters are optimized by the genetic algorithm （GA）. The controller is verified on the new state-space model of servo-valves attached to the physical rotary actuator by SIMULINK program. The controller and the state-space model are verified experimentally. Simulation and experimental results verify the effectiveness of the PID controller adaptive by GA to control the angular position of the rotary actuator as compared with the classical PID controller and the compensator controller.

Design of PID Controllers of Anti-aircraft Artillery Servo System with Multiple Performance Specifications

A novel design method for determining the proportional-integral-derivative(PID) controller gains of an anti-aircraft artillery servo system with multiple performance specifications based on a particle swarm optimization (PSO) algorithm is proposed. First, a performance criterion evolution function combined with the system maximum displacement settling time, rise time, overshoot, steady state error, constant velocity tracking error and sine wave tracking error is defined. Second, the optimization problem of PID controller parameters and the searching procedure of PSO algorithm are constructed. Finally, the optimal or near optimal PID controller parameters are fast and easily obtained by solving the above optimization problem on the given controller parameter space following the PSO searching procedure. The simulation results show the effectiveness of the proposed controllers.

Study on the servo control system of MWEDM

An ultra-precision servo control system for MWEDM (micro wire electrical discharge machining) based on piezoelectric ceramic motor drivers was developed. The servo discharge detection adopts an average voltage detection method, utilizes statistical methods to analyze the measured data, then controls discharge gap and makes the process more stable. The servo feed system based on DSP microprocessors applies a PID controller with incomplete derivation to reduce overshoot to improve machining accuracy, and also adopts adaptive dead-zone inverse compensation to eliminate dead-zone caused by piezoelectric ceramic motions in low servo feed speed. The simulation results show that the methods proposed in this paper can make the system recover its linearity and converge the dead-zone parameters. It is proved that the method proposed is efficient in solving this problem. Cooperating with a micro energy pulse generator, this equipment’s machining accuracy is smaller than ±0.2 micron, and surface roughness Ra is less than 0.1 micron. Punch die and cavity die (micro gear die, module 100 micron, thickness 3.5 millimeter) have been machined independently in two die steel work-pieces. These pieces can mate very well to work, which shows that the servo control system satisfies the need of MWEDM for high precision micro fabrication.

Fuzzy PID control system for hose pulse experiment based on LabVIEW

The hose pulse testing bench generally uses electro-hydraulic servo system. It occupies little space, tracks signals fast and has simple structure, and therefore it is widely used in industrial control field. However, there are lots of problems such as little accuracy and instability caused by slow response of hydraulic and various interference factors. Simple proportional integra- tion derivatiation （PID） control method of traditional pulse bench is simple in principle, but it is difficult in parameter adjust- ment. According to the special requirements of the control system, a PID method based on fuzzy control is proposed in the pa- per. This method not only retains the advantages of the conventional control system, but also ameliorates the drawbacks of parameter uncertainty, instability and lag. It has been testified that the method is practicable and can improve the precision and adaptation.

Research on Co-simulation with ADAMS and MATLAB for Servo Tracking System Mounted with a Small Arm

Research on a servo tracking system mounted with a small arm for robot fighting platform based on multi-body system dynamics and intelligent control theory is presented.A multi-body dynamic model which can accurately express dynamic performances of the system is built in ADAMS.In addition,an intelligent PID control model is built with MATLAB/Simulink,and the two models are integrated and co-simulated by the interface of ADAMS/Controls.Simulation experiments indicate that co-simulation technique used for design of the servo tracking system mounted with a small arm can effectively improve its design efficiency,and can also provide theoretical bases for the motion control and performance improvement of the servo tracking system mounted with a small arm.

基于粒子群算法的液压APC系统分数阶PID控制器设计

为提高冷轧液压伺服位置控制系统在复杂工况下的暂态性能和稳定性,提出一种径向基函数神经网络在线自适应调节分数阶PID控制算法。为提高网络精度,减少冗余隐层节点,采用带有2次变异机制的粒子群算法离线同时优化网络结构和初始参数,同时选择BP算法在线调整网络参数,使FOPID控制系统具备良好的自适应能力。仿真结果表明,该控制系统能够快速准确跟随输入信号,且能明显抑制外在干扰和系统参数扰动,控制效果优于其他对比控制算法。

PCI-8132运动控制卡在传动间隙PID补偿中的应用

介绍一种死区兼带阻滤波PID控制算法,利用剩余误差进行重定位补偿,从而控制非线性传动系统中的运动稳定性。

数控皮革裁剪机伺服进给三闭环控制系统PID控制研究

过窗裁剪是皮革机加工过程中的一大特点。本文针对皮革机加工过程中因存在大量过窗裁剪而带来的进给系统控制精度过高、外界工作环境干扰大等问题,构建了一种数控皮革裁剪机伺服进给三闭环控制方案,对该方案的永磁同步电机数学模型、PID控制模型、PID参数整定方案等进行分析,为皮革机加工工艺提升提供借鉴。

电液位置伺服系统的MPC控制仿真分析

电液位置伺服系统广泛应用在大负载、快速、精确反应的控制领域中,然而其存在时变非线性的特性,因此传统控制系统不能达到理想的控制效果。模型预测控制(Model Predictive Control,MPC)具有无需模型、鲁棒性强、抗扰动能力强等优点,较适合应用在时变非线性系统的控制中。分别采用PID控制、线性MPC、自适应MPC和非线性MPC 4种控制策略对电液位置伺服系统的控制性能进行仿真研究。结果表明:线性MPC、自适应MPC和非线性MPC都比PID控制性能好,非线性MPC控制精度较高、响应速度较快、抗扰动能力较强,自适应MPC控制精度、响应速度和鲁棒性次之。

Co-Simulation Research of the Mechanical-Hydraulic-Control Coupling System of ITER Tractor

The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision characteristics, and the data transfer between the different models was accomplished by the integration interface between different software. Consequently the virtual experimental platform for the multi-disciplinary co-simulation was established. A co-simulation study of the mechanical-hydraulic-control coupling system of the ITER tractor was carried out. The synchronization servo control of parallel hydraulic cylinders was implemented, and the tracking control of the preconcerted trajectory of the hydraulic cylinders was realized on the established experimental platform. This paper presents the optimization design and technology rebuilding for the complicated coupling system with its theoretic foundation and co-simulation virtual experimental platform.

基于遗传算法前馈PID控制的电液伺服泵控系统性能研究

电液伺服泵控技术在液压支架、采煤机、掘进机、挖掘机等煤矿装备中得到了广泛应用,但在复杂工况下,其动作响应性和准确性受到较大影响,需进一步提高。在数学模型的基础上建立了关键部件仿真模型和系统模型,提出了基于遗传算法的前馈PID控制策略。利用MATLAB软件进行仿真,结果显示,阶跃压力信号响应曲线的稳态误差为0.1 MPa、响应时间为0.5 s,正弦压力信号跟随曲线的最大误差为0.02 MPa,较经典PID控制缩短了响应时间,降低了误差,整体性能得到提升。

Study of improved gray predictive PID control algorithm

According to these characteristics of the movement of the special platform servo,a new improved grey predictive PID control algorithm was proposed based on the grey predictive PID,and then the algorithm was simulated by MATLAB.As a result that it can improve the response speed and stability of the system,and meet the demand of the system.

基于模糊PID的阀门电液伺服开度控制

针对电液伺服开度控制系统存在的非线性、负载扰动、时变性等问题,以蝶阀的阀门电液伺服开度控制系统为研究对象,使用AMESim软件搭建该系统的物理模型,使用MATLAB软件搭建控制模型,将二者进行联合仿真,并对常规PID控制(proportional-integral-derivative control)和自整定模糊PID控制两种算法的控制性能进行对比。实验结果表明:与常规PID控制相比,采用自整定模糊PID控制方式的电液伺服开度控制系统超调量更小,调节时间更短,准确性有很大提升,且对扰动也有很好的鲁棒性。

足式机器人腿部关节改进单神经网络PID控制算法研究

为了满足液压足式机器人在复杂环境中实现精确、快速的腿部关节控制需求,把单神经网络PID能够实时调节参数的优点运用到足式机器人液压机械腿关节的控制中,在单神经网络PID的基础上增加机械腿关节的位置和速度控制算法,形成改进单神经网络PID,实现了对神经元比例参数自调整、PID参数的自整定,能够较好地适应内、外参数的变化,增强了腿部关节的快速性、精确性。在Simulink中进行建模仿真以及在设计的以STM32为中央处理芯片的控制平台上进行实验测试,结果表明:改进单神经网络PID在足式液压机器人的腿部关节控制中具有响应速度快、超调量小、控制精度高、鲁棒性强等优点。

面向动态特性指标的机电伺服系统PID设计方法

针对机电伺服系统PID参数设计难以充分考虑动态特性(幅-相频特性)指标的问题,提出了面向动态特性指标的PID设计方法。基于动力学方程建立了机电伺服系统的9阶传递函数(Transfer Function,TF)模型。运用劳斯判据和TF系数之间的关系补充了系统的稳定性约束和TF系数的相容性约束,以保证PID设计过程中系统的稳定性和TF系数的相容性。在此基础上,基于参数辨识的思想,利用改进的有理分式多项式法辨识TF模型中各个参数,从而快速确定了满足动态特性指标的PID参数,提高了设计效率,并且通过调整指标数据辨识得到多组满足原指标的控制器参数。仿真结果表明:设计得到的PID参数不仅满足动态特性指标要求,而且兼顾了系统稳定性和TF系数的相容性,设计结果与仿真吻合良好。

基于单神经元自适应PID控制的高炮随动系统扰动补偿

为提升自行高炮随动系统的抗干扰能力以及自行高炮行进间射击精度,采用了一种基于单神经元自适应PID的控制方法,利用神经元的自学习及自校正能力对控制效果进行改善,以提升随动系统的扰动补偿能力。仿真结果表明:当高炮在B级、D级以及F级路面下行驶时,采用该方法的随动系统输出曲线的波动范围分别减小了0.14%、0.65%和4.72%,在突加扰动的情况下,再次跟踪到目标信号的时间分别缩短了0.04 s、0.03 s和0.02 s,根据实验数据可知在单神经元自适应PID控制器的作用下,当系统受到干扰后能够更快地跟踪到目标信号,且稳态精度更高。

基于扩充参数平面法的PID控制及陷波器设计

为了解决工业伺服控制系统PID控制参数设计及与滤波器的参数整定困难的问题,展开弹性传动系统模型分析与系统仿真,探讨扩充参数平面法的PID参数设计调节与应用,分析惯性比及陷波器对系统阻尼特性的影响。同时,针对呈现欠阻尼状态,在PID控制系统的基础上引入陷波器,采用同方法对控制参数进行整定,对比引入陷波器前后的振动抑制效果,验证了传统陷波器效果及设计方法的有效性。展示的控制方法与设计方法,对高阶弹性伺服系统的振动抑制研究具有理论指导和优化设计的效果。

基于模糊PID的变幅液压缸伺服位置自适应同步控制技术

液压系统中存在许多非线性因素,例如摩擦、死区和溢流等。这些非线性特性会影响伺服位置的精度和同步性能,导致控制系统的不稳定和误差积累。为此,提出基于模糊PID的变幅液压缸伺服位置自适应同步控制技术。考虑变幅液压缸伺服系统的运行结构,分析变幅液压缸动力,构建液压缸以及伺服阀的数学模型;利用伺服输出流量和压降的关系,获取速度前馈控制信号;将其反馈到系统中,设计模糊自适应PID同步控制器,实现变幅液压缸伺服位置同步控制。实验结果表明,所提方法对液压缸的同步效果很好,有效减少了液压缸伺服位置控制的误差,在不同信号干扰下,有效提高其控制稳定性和同步性能,控制器超调量平均约为0.059%,响应速度较快。

SERVO GUIDE在EP20型全电伺服数控转塔冲床上的应用

对EP20型全电伺服数控转塔冲床作了介绍,该种机床是目前国内外最前沿产品,具有高效节能、噪声小等优点。在同等配置下如何提高机床的加工效率,对产品的市场占有率具有决定性作用。而提高数控机床各轴的响应速度,降低响应时间,对机床的效率提高有着重大影响。SERVO GUIDE伺服调整软件是FANUC 0I-PD数控系统提供的专用伺服调整软件。本文对该软件的运用进行了介绍,深入说明了其使用的理论基础。

基于模糊PID的打磨头角度控制策略研究

在进行风电机组叶片表面打磨工序时,需要控制打磨头的径向与叶片表面保持垂直。对打磨头的角度调整问题进行分析和研究,通过分析打磨头的结构构成与运动轨迹,建立打磨头伺服系统的数学模型。基于角度变化引起的重力转矩补偿量,提出一种模糊比例-积分-微分(Proportion-Integral-Differential,PID)的角度伺服控制系统。Simulink仿真验证结果表明,重力补偿后模糊PID控制方法的打磨头伺服系统响应速度更快、误差更小,能够较好地调整打磨头的角度。