A self-moving tail control method based on improved GWO algorithm

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

Abstract

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

CLC Number:

X948

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