凿岩台车多关节机械臂的PID位置控制研究
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摘要
液压凿岩台车在现代隧道掘进施工中发挥了重要作用,现有液压凿岩台车在进行寻找孔位时,需要对6个液压缸和2个液压马达分别进行控制。主要研究了电液比例阀控制液压缸的位置控制系统,以电液比例阀对支臂缸的位置控制为例,其余各个关节控制系统可以以此类推,不进行详细叙述。电液比例阀控制液压缸位置控制系统实际上是一个对液压缸的位移量在钻孔作业中进行实时校正的系统,并对液压缸的期望位移和实际位移产生的偏差进行控制,并在控制环节中添加一个控制器。设计了模糊控制系统的构成,并对模糊PID参数整定的方法与过程进行了论述,然后通过MATLAB的Fuzzy工具箱和SIMULINK模块对电液比例阀控制液压缸的模糊控制器进行设计与仿真。仿真结果显示,在此阀控液压缸控制系统中,模糊PID控制器的抗干扰能力很强,响应速度快,性能也十分稳定。
Hydraulic drilling rigs play an important role in modern tunneling construction. Existing hydraulic drilling rigs need to control 6 hydraulic cylinders and 2 hydraulic motors separately when searching for holes. The electro-hydraulic proportional valve controls the position control system of the hydraulic cylinder. Taking the position control of the arm cylinder by the electro-hydraulic proportional valve as an example,the other joint control systems can be deduced by analogy. The position control system of the hydraulic cylinder controlled by the electro-hydraulic proportional valve is actually a system that corrects the displacement of the hydraulic cylinder in real time during the drilling operation. This system can control the deviation between the desired displacement and the actual displacement of the hydraulic cylinder, which requires adding a controller to the control section. The structure of the fuzzy control system was designed, and the method and process of Fuzzy PID parameter tuning were discussed. Then the fuzzy controller of the electro-hydraulic proportional valve control hydraulic cylinder was designed and simulated by MATLAB's Fuzzy toolbox and SIMULINK module. The simulation results showed that in this valve-controlled hydraulic cylinder control system, the Fuzzy PID controller has strong anti-interference ability, fast response and stable performance.
Hydraulic drilling rigs play an important role in modern tunneling construction. Existing hydraulic drilling rigs need to control 6 hydraulic cylinders and 2 hydraulic motors separately when searching for holes. The electro-hydraulic proportional valve controls the position control system of the hydraulic cylinder. Taking the position control of the arm cylinder by the electro-hydraulic proportional valve as an example,the other joint control systems can be deduced by analogy. The position control system of the hydraulic cylinder controlled by the electro-hydraulic proportional valve is actually a system that corrects the displacement of the hydraulic cylinder in real time during the drilling operation. This system can control the deviation between the desired displacement and the actual displacement of the hydraulic cylinder, which requires adding a controller to the control section. The structure of the fuzzy control system was designed, and the method and process of Fuzzy PID parameter tuning were discussed. Then the fuzzy controller of the electro-hydraulic proportional valve control hydraulic cylinder was designed and simulated by MATLAB's Fuzzy toolbox and SIMULINK module. The simulation results showed that in this valve-controlled hydraulic cylinder control system, the Fuzzy PID controller has strong anti-interference ability, fast response and stable performance.
引文
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[15]Zhao Yujing,Sun Jianda.Design of curtain automatic control system based on fuzzy PID[J].Journal of Minjiang University,2018,39(2):40-47.[赵雨境,孙建达.基于模糊PID的窗帘自动控制系统设计[J].闽江学院学报,2018,39(2):40-47.]
[2]Wang Lei,Song Wenzhong.PID Control[J].Process Automation Instrumentation,2004,25(4):1-6.[王蕾,宋文忠.PID控制[J].自动化仪表,2004,25(4):1-6.]
[3]Wu Wei,Jiang Qin,Yuan Xiaolei,et al.Displacement synchronous of the double hydraulic cylinders controlled by PID[J].China Metalforming Equipment&Manufacturing Technology,2013,48(2):72-74.[吴伟,蒋琴,袁小磊,等.双液压缸位移同步的PID控制[J].锻压装备与制造技术,2013,48(2):72-74.]
[4]Cai Peng,Zhou Zhaofei,Zhang Tao,et al.Fuzzy PID control of thermal frequency-stabilizing laser light source with double-longitudinal mode[J].Journal of Sichuan University(Engineering Science Edition),2006,38(1):154-155.[蔡鹏,周肇飞,张涛,等.双纵模热稳频激光源的模糊PID控制研究[J].四川大学学报(工程科学版),2006,38(1):154-155.]
[5]Mohammad S.IMC based robust PID controller tuning for disturbance rejection[J].Journal of Central South University,2016,23(3):581-587.
[6]Miroslav K.On the applicability of PID control to nonlinear second-order systems[J].National Science Review,2017,4(5):667-668.
[7]Liao Zhengjun,Xue Xinxi.Application of fuzzy control in the control system of intelligent adjusting valve positioner[J].Journal of Sichuan University(Engineering Science Edition),2003,35(2):96-97.[廖正军,薛心喜.模糊控制在智能调节阀定位器控制系统中的应用[J].四川大学学报(工程科学版),2003,35(2):96-97.]
[8]Dou Yanyan,Qian Lei,Feng Jinlong.Design and simulation of fuzzy PID control system based on MATLAB[J].Electronic Science and Technology,2015,28(2):119-122.[窦燕燕,钱蕾,冯金龙.基于Matlab的模糊PID控制系统设计及仿真[J].电子科技,2015,28(2):119-122.]
[9]诸静.模糊控制原理与应用[M].北京:机械工业出版社,2005.
[10]Ding Dong,Liu Zongqi,Yang Shuili,et al.Battery energy storage aid automatic generation control for load frequency control based on fuzzy control[J].Power System Protection and Control,2015,43(8):81-87.[丁冬,刘宗歧,杨水丽,等.基于模糊控制的电池储能系统辅助AGC调频方法[J].电力系统保护与控制,2015,43(8):81-87.]
[11]Wang Chuanchuan,Zhao Jincheng,Qi Xiaohui.Selection of quantization factor and scale factor in Fuzzy controller design[J].Journal of Ordnance Equipment Engineering,2009,30(1):61-63.[王川川,赵锦成,齐晓慧.模糊控制器设计中量化因子、比例因子的选择[J].四川兵工学报,2009,30(1):61-63.]
[12]Song Yuling.Simulation researches on control methods of vehicular active suspension[D].Xianyang:Northwest A&F University,2017.[宋玉玲.汽车主动悬架控制方法的仿真研究[D].咸阳:西北农林科技大学,2017.]
[13]Peng Jiangtao,Gao Pengfei,Yang Dong,et al.Motion control of omnidirectional mobile platform based on fuzzy PID[J].International Journal of Plant Engineering and Management,2017,22(3):150-158.
[14]Geng Rui.Computer simulation of the self-adaptive fuzzy PID control system based on MATLAB[J].Information Technology,2007,31(1):49-52.[耿瑞.基于MATLAB的自适应模糊PID控制系统计算机仿真[J].信息技术,2007,31(1):49-52.]
[15]Zhao Yujing,Sun Jianda.Design of curtain automatic control system based on fuzzy PID[J].Journal of Minjiang University,2018,39(2):40-47.[赵雨境,孙建达.基于模糊PID的窗帘自动控制系统设计[J].闽江学院学报,2018,39(2):40-47.]