连续墙液压抓斗起重机双主卷扬同步控制

Adaptive Synchronization Control of Diaphragm Wall Grab Crane with Double Main Hoist

摘要:

阐述了连续墙液压抓斗起重机双主卷扬液压系统的工作原理.建立了双主卷扬同步系统的数学模型.采用主从式同步PID(proportional integral derivative)控制策略,并且将自适应在线遗传算法应用于PID参数的优化整定中.仿真结果表明,与传统遗传PID控制相比,自适应在线遗传PID控制具有较好的控制性能.现场试验数据表明：所采用的控制策略比传统遗传PID控制算法具有更好的同步控制效果,同步精度可达±0.35°,很好地满足了连续墙液压抓斗起重机同步作业的基本要求.

Abstract:

A double hoist hydraulic system of diaphragm wall grab crane was introduced.A mathematic model was built for the double hoist synchronous system.Synchronous control strategy of proportional integral derivation(PID) with masterslave mode was adopted,and an online adaptive genetic algorithms (GA) was employed to optimize the parameter of PID.The simulation results show that the proposed algorithm has better control performance than traditional GA.Field test data indicate that there are good synchronizing effects by applying the proposed control strategy,and the synchronization precision can be controlled within±0.35°,which can meet the working requirements in engineering,and it is more capable of improving precision of synchronism driving than the PID control with traditional GA.