摘要
运用法国AMESim软件平台对液压挖掘机的工作装置进行了建模,通过设置主要参数,实现了该机电液一体化系统的动态仿真,并运用DesignExploration优化工具箱对PID控制器参数进行了自动优化。结果表明,经过优化的PID控制器使动臂液压缸跟踪误差降低57·4%,斗杆液压缸跟踪误差降低26·7%,铲斗液压缸跟踪误差降低4·3%,与原始方案相比均有较大的改善,因此能够实现较精确的运动轨迹,并且此法减少了传统确定PID控制参数的反复调整试凑的时间,从而提高了设计的效率。
The manipulators of excavator were modeled by applying the French software of AMESim, the main model parameters were set, and the dynamic simulation of the integrative mechanics-electronics-hydraulics system was accomplished. The parameters of PID controller were automatically optimized by using the optimization toolbox of Design Exploration. The results show that the tracking error of beam jack decreases by 57.4% , the tracking error of stick jack decreases by 26. 7% , the tracking error of bucket jack decreases by 4. 3%, and the good dynamic performance for tracking was achieved. Tthe design efficiency was improved through deceasing the adjustment time of contradiction design.
出处
《机床与液压》
北大核心
2009年第7期180-182,共3页
Machine Tool & Hydraulics
基金
浙江省教育厅科研项目(20070894)
