| 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(6):57-63 |
| 基于 PSO-Fuzzy PID 的重载无人叉车液压马达同步控制策略 |
| Hydraulic Motor Synchronous Control Strategy of Heavy-duty Unmanned Forklift Based on PSO-Fuzzy PID |
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| 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 improved characteristic function synchronous control |
| 基金项目:国家自然科学基金资助项目（61773360） |
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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，提出一种基于粒子群优化的模糊PID 方法（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，其次基于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，验证了 PSO-Fuzzy PID 方法抗干扰能力好、调节能力佳。 |
| 英文摘要: |
| A particle swarm optimization （PSO） Fuzzy PID method based on synchronization control strategy for heavy-dutyunmanned forklifts was proposed for the operation and less synchronization control deviations of hydraulic motors. The mathematicalmodel of the forklift hydraulic motor was established，and the improved characteristic function was obtained through the operatingparameters of the forklift. The eigenvalue was used to represent the operating state of the forklift，and was the input of PID method，fuzzy PID method and PSO-Fuzzy PID method. By comparing the speed and angle changes with three different methods under the samecondition，it was concluded that the PSO-Fuzzy PID method had good anti-interference and adjustment abilities. |
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