摘要
研究一种附着式升降脚手架同步升降控制系统模型以及PID控制器优化方法。通过对广义控制对象进行建模,设计了同步升降控制器,以改进时间乘以误差绝对值积分（ITAE）为优化目标,采用不同优化算法对所设计的控制器进行优化。通过系统输出对电机的转速进行控制,使各个机位能够同步运动,进而保证了脚手架的各个机位的载荷均匀。最后利用MATLAB/SIMULINK对提出模型进行仿真和工业实验。实验表明：利用量子遗传算法进行优化的系统其超调量为3.8%,调整时间为0.4 s,有较好的系统稳定性和快速性,达到了预期目标。
A PID controlling scheme for synchronous movement of attached self-lifting scaffolds （ASL scaffolds） is presented in this article. The ASL scaffolds controlling system is modeled based on load. Based on Integral Time Absolute Error （ITAE）, a PID controller is presented and parameter tuning is realized by different optimization algorithms. The output of the PID controller aims to adjust the speed of the motor and keep the ASL scaffolds movement synchronously. Therefore each machine position of ASL scaffolds is able to rise with the same velocity as well as the average load bearing capacity. The proposed model is simulated with MATLAB/Simulink platform and verified with practical ASL scaffolds. The simulation experimental results indicate that the proposed PID controller is of good performance with an overshoot of 3.8% and the settling time of 0.4s. The proposed PID controller is capable of achieving the stable movement and fast response time of ASL scaffolds.
出处
《控制工程》
CSCD
北大核心
2018年第2期352-356,共5页
Control Engineering of China
基金
重庆市科委前沿与应用基础研究项目(cstc2015jcyj A90003)
重庆市教委项目(KJ1500620)
关键词
附着式升降脚手架
PID控制器
量子遗传算法
同步升降控制
Attached self-lifting scaffolds
PID controller
quantum genetic algorithm
synchronous movement control
