摘要
为解决液压油缸出厂试验过程中由于油缸抓手抓放定位误差导致抓放失败,进而导致试验台损坏和影响工作效率的问题,实现油缸抓手快速准确抓放油缸,采取模糊PID控制算法实现多工位油缸试验台油缸抓手的步进定位控制,多工位油缸试验台测试对象为两相混合式步进电机。通过对固定参数PID的模拟分析,得出系统最优PID参数为K_(p)=22、K_(i)=0.26、K_(d)=1.40。在此参数下,通过模糊PID控制与固定参数PID控制对比分析,得出模糊PID控制系统达到稳态所需的时间和响应速度均优于固定参数PID控制系统。加入扰动后,对比分析模糊PID控制与固定参数PID的控制效果得出,在车间扰动环境下,步进电机控制系统响应迅速、控制稳定,模糊PID控制效果明显优于固定参数PID控制。最后通过线下车间试验台实践验证得出模糊PID优化控制算法满足油缸抓手定位精度的要求。
In order to solve the problem that the hydraulic cylinder grab fails to grasp and release due to the positioning error of the cylinder grab during the delivery test,which leads to the damage of the test bench and affects the working efficiency,in order to realize the rapid and accurate grasp of the cylinder,the fuzzy PID control algorithm was adopted to realize the step positioning control of the cylinder gripper of the multi-position cylinder test bench.The test object of the multi-position cylinder test bench was a two-phase hybrid stepping motor.Through the simulation analysis for fixed parameter PID,the optimal PID parameters of the system were K_(p)=22,K_(i)=0.26,K_(d)=1.40.Under the parameters,through the comparative analysis of fuzzy PID control and fixed parameter PID control,it was concluded that the time and response speed required for the fuzzy PID control to achieve the system steady state were better than the fixed parameter PID control system.After the disturbance was added,the control effects of fuzzy PID control and fixed parameter PID control were compared and analyzed.In the workshop disturbance environment,the stepping motor control system responds quickly and controls stably,and the fuzzy PID control effect is obviously better than the fixed parameter PID control.Finally,it is proved that the fuzzy PID optimization control algorithm meets the requirements of the positioning accuracy of the cylinder gripper through the offline workshop test bench.
作者
孟锦涛
周小杰
国海
张帝
汪婵
MENG Jintao;ZHOU Xiaojie;GUO Hai;ZHANG Di;WANG Chan(School of Electrical and Electronic Engineering,Anhui University of Science and Technology,Bengbu Anhui 233100,China)
出处
《机床与液压》
北大核心
2023年第16期67-75,共9页
Machine Tool & Hydraulics
基金
安徽省教育厅自然基金重大项目(2022AH040234)
安徽省自然科学基金项目(2208085MF169)
安徽科技学院引进人才项目(DQYJ202204)。
关键词
定位精度
模糊PID
多工位油缸试验台
Location accuracy
Fuzzy PID
Multi-position cylinder test bench
