基于模糊PID算法的车载液压调平动态特性联合仿真研究
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摘要
基于车载平台液压调平系统,为了减少支腿的跟踪误差及其同步误差,降低支腿之间的运动耦合,采用模糊PID控制算法实现调平过程中动态特性控制。利用AMESim和MATLAB/Simulink分别建立调平液压回路和模糊PID控制器的仿真模型并进行联合仿真研究。结果表明,加入模糊PID算法比常规PID算法能够有效的减少支腿的跟踪误差和定位误差以及支腿之间同步误差,有效提高调平精度。
For the hydraulic level system of vehicle platform,in order to reduce the tracking error of the leg and the synchronization error between legs and reduce the motion coupling between hydraulic legs,the fuzzy PID control algorithm is adopted to realize the dynamic characteristic control in the leveling process.The simulation model of the leveling hydraulic circuit and fuzzy PID controller are established by using AMEsim and MATLAB/Simulink and underway the jiont simulation study.The result shows that the fuzzy PID algorithm compared with the conventional PID algorithm can effectively reduce the tracking error,positioning error and synchronization error between hydraulic legs,and can effectively improve the leveling accuracy.
For the hydraulic level system of vehicle platform,in order to reduce the tracking error of the leg and the synchronization error between legs and reduce the motion coupling between hydraulic legs,the fuzzy PID control algorithm is adopted to realize the dynamic characteristic control in the leveling process.The simulation model of the leveling hydraulic circuit and fuzzy PID controller are established by using AMEsim and MATLAB/Simulink and underway the jiont simulation study.The result shows that the fuzzy PID algorithm compared with the conventional PID algorithm can effectively reduce the tracking error,positioning error and synchronization error between hydraulic legs,and can effectively improve the leveling accuracy.
引文
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[2]谢国庆,周晓明,金梁斌.基于AMESim的电液位置控制系统动态性能仿真分析及优化[J].机床与液压,2014,42(4):47-49.XIE Guoqing,ZHOU Xiaoming,JIN Liangbin.Simulation Analysis and Optimization of Dynamic Performance for Electrol-hydraulic Position Contral System Based on AMESim[J].Machine Tool&Hydraulics,2014,42(4):47-49.
[3]仕润霖,冯永保,李淑智.模糊PID控制在车载平台高精动态调平系统仿真研究[J].机床与液压,2013,43(3):150-153.SHI Runlin,FENG Yongbao,LI Shuzhi.High-precision Dynamic Leveling Simulation of the Vehicle Platform Controlledby Fuzzy PID[J].Machine Tool&Hydraulics,2013,43(3):150-153.
[4]湛从昌.液压可靠性与故障诊断[M].北京:冶金工业出版社,2009.ZHAN Congchang.Reliability and Fault Diagnosis[M].Beijing:Metallurgical Industry Press,2009.
[5]王冰.基于神经网络的车载平台自动调平控制系统的研究[D].哈尔滨:哈尔滨工业大学,2012.WANG Bing.Study on Automatic Leveling Control System of Vehicle Platform Based on Neural Network[D].Harbin:Harbin Institude of Technology,2012.
[6]娄华威,卜德岭.电液比例阀控调平系统设计与仿真研究[J].流体传动与控制,2009,36(5):10-13.LOU Huawei,BU Deling.Design and Simulation of Hydraulic Levelling System Controlled by Electro-hydraulic Proportional Valves[J].Fluid Power Transmission and Control,2009,36(5):10-13.
[7]褚新峰,杨曙东.车载雷达电液调平系统[J].液压与气动,2007,(5):56-58.CHU Xinfeng,YANG Shudong.Electrol-hydralic Leveling System for Vehicle-borne Radars[J].Hydraulic and Pneumatic,2007,(5):56-58.
[8]郭晓松,祁帅.基于同等方式控制的双缸同步液压系统仿真[J].机床与液压,2009,37(3):28-30.GUO Xiaosong,QI Shuai.Simulative Research on Synchronization Control of Two Hydraulic Clinder System Based on Coordinative Control[J].Machine Tool&Hydraulics,2009,37(3):28-30.
[9]李文峰.游庆和.变频泵控预应力张拉设备的自适应模糊PID张拉力控制[J].液压与气动,2016,(11):48-54.LI Wenfeng,YOU Qinghe.Adaptive Fuzzy PID Controller of Variable Frequency Pump-control Prestressed Tension Device[J].Hydraulic and Pneumatic,2016,(11):48-54.