基于改进粒子群算法的双液压马达同步控制策略

doi:10.3901/JME.2020.16.254

机械工程学报 ›› 2020, Vol. 56 ›› Issue (16): 254-261.doi: 10.3901/JME.2020.16.254

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基于改进粒子群算法的双液压马达同步控制策略

谭顿, 陶建峰, 王旭永

上海交通大学机械系统与振动国家重点实验室上海 200240

收稿日期:2019-11-07 修回日期:2020-03-20 出版日期:2020-08-20 发布日期:2020-10-19
通讯作者: 陶建峰(通信作者),男,1975年出生,博士,副教授,博士研究生导师。主要研究方向为智能机电液元件设计与系统控制技术。E-mail:jftao@sjtu.edu.cn
作者简介:谭顿,男,1996年出生。主要研究方向为液压伺服系统。E-mail:18621098716@163.com;王旭永,男,1960年生,博士,副研究员。主要研究方向为液压伺服系统理论与应用,以及机电一体化系统与应用。E-mail:xywang@sjtu.edu.cn
基金资助:
装备预研教育部联合基金资助项目（6141A02022120）。

Synchronous Control Strategy of Dual Hydraulic Motors Based on Improved Particle Swarm Optimization Algorithm

TAN Dun, TAO Jianfeng, WANG Xuyong

State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240

Received:2019-11-07 Revised:2020-03-20 Online:2020-08-20 Published:2020-10-19

摘要/Abstract

摘要： 为提高双液压马达同步控制系统的同步控制精度，消除由于两组阀控马达系统的差异导致的同步误差，提出采用压力反馈的共反馈同步误差校正同步控制策略。同时采用一种改进的粒子群优化算法用于寻找同步控制系统的最优PID控制系数。这种改进的粒子群算法引入遗传算法中的交叉和变异操作提高传统粒子群算法的寻优性能。在考虑传动轴刚度的情况下，建立双液压马达同步控制系统的数学模型。进一步的仿真与试验结果表明，基于压力反馈的同步控制与改进的粒子群算法相结合的复合控制策略，能有效减小系统系统超调与同步控制误差，提升系统响应速度。研究成果为改善粒子群算法的寻优性能以及提升马达同步控制系统的动态响应性能与稳态精度提供了理论指导。

关键词: 双液压马达系统, 同步控制, 共反馈同步误差校正, 改进粒子群算法, 压力反馈

Abstract: In order to improve the precision of synchronous control of dual hydraulic motor synchronous drive system and eliminate the synchronization error caused by the difference between the two groups of valve control motor system, a common feedback synchronization error correction synchronization control strategy based on pressure feedback is proposed. Meanwhile, an improved particle swarm optimization (IPSO) algorithm is used to obtain the optimal PID control coefficient of the synchronous control system. The proposed IPSO algorithm is a composite with the addition of crossover and mutation operations in the genetic algorithm to enhance the optimization performance of the algorithm. Taken the stiffness of the drive shaft into account, the mathematical model of the dual hydraulic motor synchronous drive system is established. Further simulation and experiment results show that the above pressure feedback-based synchronous control strategy combined with IPSO algorithm effectively reduces the overshoot and the synchronization error of system and improves the system response speed, which provides theoretical guidance for enhancing the optimization performance of particle swarm optimization algorithm and improving the dynamic response performance and steady-state accuracy of motor synchronous drive system.

Key words: dual hydraulic motor system, synchronous control, common feedback synchronization error correction, improved particle swarm optimization, pressure feedback

中图分类号:

TH137

谭顿, 陶建峰, 王旭永. 基于改进粒子群算法的双液压马达同步控制策略[J]. 机械工程学报, 2020, 56(16): 254-261.

TAN Dun, TAO Jianfeng, WANG Xuyong. Synchronous Control Strategy of Dual Hydraulic Motors Based on Improved Particle Swarm Optimization Algorithm[J]. Journal of Mechanical Engineering, 2020, 56(16): 254-261.

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基于改进粒子群算法的双液压马达同步控制策略

Synchronous Control Strategy of Dual Hydraulic Motors Based on Improved Particle Swarm Optimization Algorithm

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