基于弹性FA算法的混凝土罐车自适应液压驱动优化控制

doi:10.3969/j.issn.1674-8484.2023.05.006

汽车安全与节能学报 ›› 2023, Vol. 14 ›› Issue (5): 570-579.DOI: 10.3969/j.issn.1674-8484.2023.05.006

基于弹性FA算法的混凝土罐车自适应液压驱动优化控制

徐珊珊¹(), 赵娜²

1.内蒙古交通职业技术学院，赤峰 024000，中国
2.内蒙古科技大学, 包头 014010，中国

收稿日期:2022-11-11 修回日期:2023-08-22 出版日期:2023-10-31 发布日期:2023-10-31
作者简介:徐珊珊（1985—），女（汉），内蒙古，副教授。E-mail：415315674@qq.com。
基金资助:
内蒙古自治区教育厅高等学校科学研究项目(NJSY21390)

Adaptive hydraulic drive optimization control of concrete tanker based on elastic FA

XU Shanshan¹(), ZHAO Na²

1. Inner Mongolia Vocational and Technical College of Communications, Inner Mongolia 024000, China
2. Inner Mongolia University of Science & Technology, Inner Mongolia 024000, China

Received:2022-11-11 Revised:2023-08-22 Online:2023-10-31 Published:2023-10-31

摘要/Abstract

摘要：

混凝土罐车在行驶过程中罐内流体晃动引起的非轴对称问题受到复杂路面对车辆的激励影响，使得流体晃动与车身动态出现耦合。传统的液压驱动比例积分微分（PID）控制方法在应对此类问题时效果欠佳，容易导致倾覆等事故的发生。为提升液压驱动控制系统的精度和稳定性，该文提出了基于弹性萤火虫（FA）算法的优化粒子滤波器PID自适应控制方法，加速控制参数优化的收敛速度，并分析其液压驱动控制特点和结构上的应用。结果表明：提出的自适应控制方法与传统PID控制相比，能够显著降低液压驱动控制平均速度误差至0.06 km/h，最大速度误差降至0.29 km/h，同时还提高了控制跟踪性能和稳定性，对混凝土罐车液压驱动控制优化的实际应用具有重要的参考价值。

关键词: 自适应控制, 液压驱动, 混凝土罐车, 弹性萤火虫算法（FA）

Abstract:

The non-axisymmetric problem caused by fluid shaking in the tank of a concrete tanker during driving is affected by the excitation of the vehicle on the complex road surface, which makes the fluid shaking coupled with the body dynamics. The traditional hydraulic drive proportion-integration-differentiation (PID) control method is ineffective in dealing with such problems, which can easily lead to accidents such as overturning. In order to improve the accuracy and stability of the hydraulic drive control system, a firefly optimized particle filter PID adaptive control method based on the elastic firefly algorithm(FA) was proposed to accelerate the convergence speed of the optimization of the control parameters and to analyze its hydraulic drive control characteristics and structural applications. The results show that the proposed adaptive control method can significantly reduce the average speed error of hydraulic drive control to 0.06 km/h and the maximum speed error to 0.29 km/h in comparation with the traditional PID control, and also improve the control tracking performance and stability, which has an important reference value for the practical application of the optimization of the hydraulic drive control of concrete tanker.

Key words: adaptive control, hydraulic drive, concrete tanker, elastic firefly algorithm(FA)

中图分类号:

徐珊珊, 赵娜. 基于弹性FA算法的混凝土罐车自适应液压驱动优化控制[J]. 汽车安全与节能学报, 2023, 14(5): 570-579.

XU Shanshan, ZHAO Na. Adaptive hydraulic drive optimization control of concrete tanker based on elastic FA[J]. Journal of Automotive Safety and Energy, 2023, 14(5): 570-579.

图/表 9

图1 混凝土罐车工地坡面行驶受力简图

图2 混凝土罐车轮胎软坡行驶相互作用模型

图3 静液压驱动系统结构图 1―发动机；2―变量泵；3―溢流阀；4―单向阀；5―蓄能器；6―补油泵；7―油箱；8―溢流阀；9―梭阀；10―背压阀；11―定量马达；12―变速箱/驱动器；13―车轮；14―控制器

图4 弹性FA算法优化滤波自适应PID控制结构图

图5 混凝土罐车软泥坡面行驶仿真模型

图6 阶跃信号下混凝土罐车速度控制

图7 混凝土罐车坡道行驶性能对比

图8 混凝土罐车连续行驶变化数据

图9 混凝土罐车罐内流体晃动干扰下连续行驶变化数据

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基于弹性FA算法的混凝土罐车自适应液压驱动优化控制

Adaptive hydraulic drive optimization control of concrete tanker based on elastic FA

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