基于PID控制算法的自动调平系统的仿真研究

摘要

为了提高伸缩臂叉装车自动调平系统在工作中的调平精度和响应速度,提出了一种在伸缩臂叉装车的自动调平系统加入增量式比例-积分-微分(PID)控制算法的电液比例控制方法,并建立了电液自动调平系统的控制模型和Simulink仿真模型.利用Simulink的仿真结果分析和对比了加入PID控制算法与没有加入PID控制算法的阶跃响应和开环伯德图的特点,验证了在叉装车自动调平系统加入PID算法的可行性和产生的预期效果.%To improve the leveling precision and response speed for automatic leveling system of telescopic handler,an electro - hydraulic proportional control method is first proposed via an incremental PID algorithm. Meanwhile, the control model, together with simulinkTM simulation model, is established. By using the simulation results with and without PID control algorithm, relevant characteristics of step responses and open - loop Bode charts are then analyzed and compared. Finally, the feasibility and effect on automatic leveling system of handler is validated in terms of PID control algorithm.