轮式起重机驾驶室俯仰控制策略设计研究

王全伟; 高晓慧; 文豪; 黄金; 张国鹏

doi:10.13433/j.cnki.1003-8728.20220306

轮式起重机驾驶室俯仰控制策略设计研究

doi: 10.13433/j.cnki.1003-8728.20220306

1.
太原科技大学机械工程学院，太原　030024

基金项目: 山西省重点研发计划项目（202003D111009）、广东省市场监督管理局科技项目（2022CT12）、山西省高等学校科技创新项目（2020L0360）及太原科技大学博士科研启动基金项目（20192044）

详细信息

作者简介:
王全伟，副教授，博士，noveldavid@126.com

中图分类号: TD63
计量
- 文章访问数: 27
- HTML全文浏览量: 9
- PDF下载量: 10
- 被引次数: 0
出版历程
- 收稿日期: 2022-04-20
- 刊出日期: 2024-02-01

Design on Pitching Control Strategy of Wheeled Crane Cab

1.
School of Mechanical Engineering , Taiyuan University of Science and Technology, Taiyuan 030024, China

摘要

摘要: 在面临超大服役空间的起升高度场合进行作业时，轮式起重机的驾驶室需要适时调整上仰下俯动作以适应升降变化。为获得稳定的驾驶室空间变化，采用物理拓扑结构解耦，构建液压系统的数学模型，并提出鲸鱼算法优化分数阶控制器（WOA-FOPID）的控制策略，重点分析对比控制策略优化前后的动态响应性和抗干扰性。结果表明，WOA-FOPID控制策略可以对驾驶室的俯仰进行准确、快速、稳定的控制，提高了驾驶室的舒适性和宜人性。
- 轮式起重机 /
- 大起升高度 /
- 驾驶室 /
- WOA-FOPID /
- 控制策略
Abstract: When working at the lifting height in large service space, the cab of wheeled crane needs to adjust the up and down actions in time to adapt to the lifting changes. In order to obtain the stable spatial change of the cab, the physical topology decoupling is used to construct the mathematical model of the hydraulic system, and the whale algorithm is proposed to optimize the control strategy of the fractional order controller (WOA-FOPID), focusing on the analysis and comparison of the dynamic response and anti-interference before and after the optimization of the control strategy. The results show that WOA-FOPID control strategy can accurately, quickly and stably control the cab pitch, improve the comfort and amenity of the cab, and this study has certain guiding significance in engineering practice.
- wheeled crane /
- large lifting height /
- cab /
- WOA-FOPID /
- control strategy

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图 1 驾驶员视野图

Figure 1. Driver′s field of view

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图 2 驾驶室液压控制系统物理模型

Figure 2. Physical model of the hydraulic control system in the cab

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图 3 俯仰局部放大

Figure 3. Partial Enlargement in Pitch

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图 4 系统在无干扰无控制状态下Bode图

Figure 4. Bode diagram of the system in a state of no interference and no control

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图 5 系统开环阶跃响应图

Figure 5. Open loop step response of the system

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图 6 WOA参数整定的优化流程

Figure 6. Procedures of WOA paratneter tuning

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图 7 WOA算法整定原理

Figure 7. Optimization process for WOA parameter tuning

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图 8 有无优化算法FOPID的阶跃响应对比图

Figure 8. Comparison of step response with and without optimization algorithm FOPID

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图 9 目标函数值变化情况

Figure 9. Changes in objective function values

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图 10 两种控制策略的扰动误差图

Figure 10. Disturbance errors for two control strategies

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表 1 数学模型参数

Table 1. Mathematical model parameters

参数	参数值
阀芯的固有频率$ \omega\mathrm{_h} $	15.1
阀芯的阻尼比$ \xi_{\mathrm{h}} $	0.046
活塞有效面积$ {A_1} $/m²	5.02 × 10⁻³
流量增益$ K\mathrm{_q}\underline{ } $/(m²·s⁻¹)	2.42

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表 2 控制策略阶跃响应参数

Table 2. Control strategy's step response parameters

控制策略	超调量/%	稳定时间/s
FOPID	26.3582	0.12
WOA-FOPID	2.63	0.02

下载: 导出CSV

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