刘鑫, 蔡改贫, 罗小燕.基于LinWPSO算法的同步顶升系统模糊PID控制器设计[J].河南理工大学学报（自然科学版）,2020,39(1):83-90.

LIU X, CAI G P, LUO X Y.Design of fuzzy PID controller for lifting system based on LinWPSO algorithm[J].Journal of Henan Polytechnic University(Natural Science) ,2020,39(1):83-90.

基于LinWPSO算法的同步顶升系统模糊PID控制器设计

刘鑫, 蔡改贫, 罗小燕

江西理工大学机电工程学院，江西赣州341000

摘要:针对WK-35大型挖掘机上下盘分离时不稳定、顶升同步误差大等问题，提出一种基于 LinWPSO算法的多液压缸同步顶升模糊PID控制方法，以获得更高精度的顶升控制系统。采用几何分析计算，验证顶升体系的同步精度要求，提出将粒子群寻优算法与模糊PID结合的控制策略，设计模糊PID同步顶升控制器。利用LinWPSO算法优化模糊控制器的性能参数，使控制器性能达到最优。基于WK-35大型挖掘机液压系统，建立AMEsim液压系统模型，并结 合Simulink控制模型进行联合仿真。结果表明，改进的顶升系统控制方法相比模糊PID控制，控制精度明显提高，可满足系统的同步要求。进行了 WK-35大型挖掘机上下盘分离同步顶升工程试验，试验结果在可允许的范围内与仿真结果一致，验证了所提方法的可行性。

关键词:同步顶升;模糊PID控制;LinWPSO算法;联合仿真

doi:10.16186/j.cnki.1673-9787.2020.1.11

基金项目:国家自然科学基金资助项目（51464017）；江西省科技研究重点项目（GJJ150618 ）

收稿日期:2019/04/13

修回日期:2019/05/14

出版日期:2020/01/15

Design of fuzzy PID controller for lifting system based on LinWPSO algorithm

LIU Xin, CAI Gaipin, LUO Xiaoyan

School of Mechanical & Electrical Engineering， Jiangxi University of Science & Technology， Ganzhou 341000 ， Jiangxi， China

Abstract:WK-35 large-scale excavator was unstable when its upper and lower were being separating， and the lifting synchronization error was large. A multi-cylinder synchronous lifting fuzzy PID control method based on LinWPSO algorithm was proposed to obtain a more accurate lifting control system. The synchronous accuracy requirements of the jacking system was verified by geometric analysis and calculation. The control strategy combining particle swarm optimization algorithm with fuzzy PID was proposed， and then the fuzzy PID synchronous lifting controller whose performance parameters was optimized by the LinWPSO algorithm was designed. Based on the hydraulic system of WK-35 large excavator， the AMEsim model of hydraulic system was established. Combined with the Simulink control part model， the joint simulation was carried out. The results of joint simulation showed that compared with fuzzy PID control， the control accuracy of the improved control method was obviously improved， which met the synchronization requirements of the system. The engineering test of synchronous lifting of WK-35 excavator by separating the upper and lower plates was carried out， and it showed that the experimental results were in agreement with the simulation results. The feasibility of the proposed method was verified.

Key words:synchronous lifting;fuzzy PID control;LinWPSO algorithm;joint simulation

基于LinWPSO算法的同步顶升系统模糊PID控制器设计_刘鑫.pdf