摘要
为提高液压挖掘机铲斗位置控制性能,在建立铲斗位置控制系统开环传递函数基础上,分别采用蚁群算法和模糊算法进行铲斗位置PID控制器参数优化,并仿真比较了2种算法优化的系统响应性能和抗干扰性能。仿真结果表明:相比模糊算法,在加随机干扰力和不加随机干扰力2种情况下,基于蚁群算法的系统对于阶跃信号的超调量、调整时间、稳态误差等指标均降低;对于正弦信号的最大跟踪误差、平均跟踪误差均缩小5%以上。
In order to improve the performance of hydraulic excavator bucket position control,on the basis of establishing the open-loop transfer function of bucket position control system,ant colony algorithm and fuzzy algorithm are used to optimize the parameters of bucket position PID controller,and the response and anti-interference performance of the system optimized by the two algorithms are compared by simulation.The simulation results show that:compared with fuzzy algorithm,the system based on ant colony algorithm reduces the overshoot,adjustment time and steady-state error of step signal,and reduces the maximum tracking error and average tracking error of sine signal by more than 5%.
作者
夏正兵
XIA Zheng-bing(College of Architecture and Civil Engineering, Jiangsu City Vocational College Nantong Campus, Nantong, Jiangsu 226006)
出处
《液压与气动》
北大核心
2020年第9期137-142,共6页
Chinese Hydraulics & Pneumatics
基金
江苏省住房和城乡建设厅科学技术指导项目(2018ZD190)。
关键词
液压挖掘机铲斗
蚁群算法
模糊算法
PID控制
位置控制
hydraulic excavator bucket
ant colony algorithm
fuzzy algorithm
PID control
position control
