基于改进灰狼优化算法的自移机尾控制方法

doi:10.16265/j.cnki.issn1003-3033.2023.S2.0013

摘要/Abstract

摘要：

为更好地解决自移机尾的姿态控制问题,将改进后的灰狼算法(GWO)融入到比例积分微分控制器PID控制器中,设计模糊控制器,提出改进的GWO优化模糊PID控制系统架构,实现自移机尾的迈步自移、同步举升、侧移校正的安全控制动作。建立带式输送机自移机尾液压控制系统数学模型,设计自移机尾侧移动作控制仿真与自移机尾多液压缸同步举升控制仿真,通过仿真分析的方法分别对比未加算法的PID控制效果,以及改进前后的灰狼算法所优化的模糊PID控制效果。结果表明:采用PID模糊控制器并融合改进后的灰狼优化算法,可以使自移机尾安全控制系统性能更稳定、控制效率更高。

关键词: 自移机尾, 液压系统, 模糊PID控制器, PID控制, 灰狼优化算法(GWO)

Abstract:

In order to better control the attitude of a self-moving tail, the improved GWO algorithm was integrated into the PID controller, and a fuzzy controller was designed. An optimized fuzzy PID control system architecture based on improved GWO was proposed to realize the safety control actions of the tail including self-moving, synchronous lifting, and side-moving correction. The mathematical model of the hydraulic control system of the self-moving tail of the belt conveyor was established, and the simulation of the side-moving control of the self-moving tail and the synchronous lifting control of the multi-hydraulic cylinders of the self-moving tail was designed. The results of PID control without algorithm and fuzzy PID control optimized by GWO algorithm before and after improvement were compared by simulation analysis. The results show that the fuzzy PID controller and the improved GWO algorithm can make the safety control system of the self-moving tail more stable and more efficient.

Key words: self-moving tail, hydraulic system, fuzzy proportion integration differentiation (PID) controller, proportion integration differentiation (PID) control, grey wolf optimization (GWO) algorithm

中图分类号:

X948

鞠兴军, 魏德志. 基于改进灰狼优化算法的自移机尾控制方法[J]. 中国安全科学学报, 2023, 33(S2): 23-27.

JU Xingjun, WEI Dezhi. A self-moving tail control method based on improved GWO algorithm[J]. China Safety Science Journal, 2023, 33(S2): 23-27.

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参数	数值	参数	数值
低压小流量泵驱动电机转速/(r·min^-1)	1 450	节流阀等效孔口直径/mm	2.8
高压大流量泵驱动电机转速/(r·min^-1)	1 500	举升液压缸缸径/mm	125
供油压力/MPa	31.5	举升液压缸杆径/mm	80
回油压力/MPa	20	举升液压缸行程/mm	200
系统溢流阀设定压力/Pa	31.5	推移液压缸缸径/mm	160
侧移液压缸缸径/mm	100	推移液压缸杆径/mm	110
侧移液压缸杆径/mm	70	推移液压缸行程/mm	2 700
侧移液压缸行程/mm	80	减压阀设定值/MPa	90
侧移液压缸外负载力/N	29 325	系统溢流阀设定压力/MPa	100
举升液压缸外负载力/N	97 750	推移液压缸外负载力/N	130 333.34