Design on Pitching Control Strategy of Wheeled Crane Cab
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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。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.
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Key words:
- wheeled crane /
- large lifting height /
- cab /
- WOA-FOPID /
- control strategy
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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 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 -
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