| 孙丙宇,申轩,郑长勇.基于PSO-Fuzzy PID的重载无人叉车液压马达同步控制策略[J].安徽建筑大学学报,2023,31(): |
| 基于PSO-Fuzzy PID的重载无人叉车液压马达同步控制策略 |
| Synchronous control strategy of hydraulic motor of heavy-duty unmanned forklift truck based on PSO-Fuzzy PID |
| 投稿时间：2023-02-28 修订日期：2023-05-09 |
| DOI： |
| 中文关键词: 重载无人叉车 粒子群 模糊PID方法 改进特征函数 同步控制 |
| 英文关键词: Heavy duty unmanned forklift Particle swarm Fuzzy PID method Improve the characteristic function Synchronous control |
| 基金项目:采摘机器人-智慧植物工厂关键技术研发及集成示范项目 |
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| 中文摘要: |
| 为保证重载无人叉车正常运行，减小对液压马达的同步控制偏差，提出一种基于PSO-Fuzzy PID的重载无人叉车液压马达同步控制策略。首先建立叉车液压马达的数学模型，其次通过叉车运行参数获得改进特征函数，利用特征值表示叉车运行状态，并作为PID方法、模糊PID方法和粒子群优化的模糊PID方法的输入。最后，相同条件下，通过比较三种不同方法下转速变化以及角度变化，得出粒子群优化的模糊PID方法抗干扰能力好，调节能力佳，更适用于重载无人叉车的控制系统，实现重载无人叉车液压马达的同步控制。 |
| 英文摘要: |
| To ensure the normal operation of heavy-duty unmanned forklifts and reduce the synchronization control deviation of hydraulic motors, a PSO-Fuzzy PID based synchronization control strategy for heavy-duty unmanned forklifts is proposed. Firstly, the mathematical model of the forklift hydraulic motor was established. Secondly, the improved characteristic function was obtained through the operating parameters of the forklift. The eigenvalue was used to represent the operating state of the forklift, and was used as the input of PID method, fuzzy PID method and particle swarm optimization fuzzy PID method. Finally, under the same conditions, by comparing the speed change and angle change under three different methods, it was concluded that the fuzzy PID method of particle swarm optimization had good anti-interference ability and good adjustment ability, which was more suitable for the control system of heavy-duty unmanned forklift trucks, and realized the synchronous control of the hydraulic motor of heavy-duty unmanned forklift trucks. |
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