학술논문
建筑起重机变幅液压缸位置ACO优化PID控制优化 / Position Control Optimization of Truck Crane Luffing Hydraulic Cylinder Based on ACO Optimization PID
Document Type
Academic Journal
Author
Source
机械设计与制造 / Machinery Design & Manufacture. 396(2):179-188
Subject
Language
Chinese
ISSN
1001-3997
Abstract
为了提高建筑起重机变幅液压缸位置控制精度,引入蚁群算法(Ant Clony Optimization,ACO)对PID控制进行优化,给出了位置控制系统控制器.并针对阶跃响应和正弦响应,开展仿真分析.得到如下结论:处于干扰力阶跃响应下,蚁群算法相对Ziegler-Nichols与果蝇算法(Fruit Flies Optimization,FFO)优化PID控制系统响应曲线分别减小了32.1%与12.3%的超调量,调整时间缩短34.3%与26.54%,稳态误差减小54.18%与33.21%.利用ACO优化PID系统表现出了更优的阶跃响应性能.处于干扰力正弦响应下,以ACO优化PID系统相对其它两种算法获得了更低的最大跟踪误差,时平均跟踪误差也明显减小.经综合分析可知,采用ACO优化PID系统获得了最优的抗干扰性能.该研究对提高起重机变幅液压缸位置控制精度具有很好的实际指导意义.
In order to improve the position control accuracy of variable amplitude hydraulic cylinder of construction crane,Ant Clony Optimization(ACO)is introduced to optimize PID control,and the controller of position control system is presented.The step response and sinusoidal response are simulated and analyzed.The results are as follows:compared with ziegler-Nichols and Fruit fly algorithm,ant colony algorithm reduces the overshoot by 32.1%and 12.3%,the adjustment time is reduced by 34.3%and 26.54%,and the steady-state error is reduced by 54.18%and 33.21%under the step response of disturbance force.ACO optimization PID system shows better step response performance.Under the sinusoidal response of interference force,the maxi-mum tracking error of PID system optimized by ACO is lower than that of the other two algorithms,and the time average track-ing error is also significantly reduced.Through comprehensive analysis,the ACO optimization PID system achieves the best an-ti-interference performance.The research has a good practical guiding significance for improving the position control accuracy of hydraulic cylinder of truck crane.
In order to improve the position control accuracy of variable amplitude hydraulic cylinder of construction crane,Ant Clony Optimization(ACO)is introduced to optimize PID control,and the controller of position control system is presented.The step response and sinusoidal response are simulated and analyzed.The results are as follows:compared with ziegler-Nichols and Fruit fly algorithm,ant colony algorithm reduces the overshoot by 32.1%and 12.3%,the adjustment time is reduced by 34.3%and 26.54%,and the steady-state error is reduced by 54.18%and 33.21%under the step response of disturbance force.ACO optimization PID system shows better step response performance.Under the sinusoidal response of interference force,the maxi-mum tracking error of PID system optimized by ACO is lower than that of the other two algorithms,and the time average track-ing error is also significantly reduced.Through comprehensive analysis,the ACO optimization PID system achieves the best an-ti-interference performance.The research has a good practical guiding significance for improving the position control accuracy of hydraulic cylinder of truck crane.