模糊PID控制的车载平台高精度动态调平仿真研究

摘要

某车载设备系统平台一般采用开关式换向阀控制液压缸来实现调平，其输出参数的时变性以及外界干扰等非线性因素直接影响调平控制效果。阐述电液比例阀控液压缸的调平原理，采用模糊PID控制算法实现车载平台的动态调平，利用AMESim和MATLAB／Simulink软件对调平系统进行建模和联合仿真。结果表明：通过模糊控制器对PID参数进行在线自整定，能够提高调平系统的控制精度、缩短调平时间、增强系统鲁棒性。%The leveling of vehicle equipment system platforms is generally achieved by using switching valve control hydraulic cyl-inders. The nonlinear factors,such as time variability of output parameters and outside interference,will directly affect the control effect of leveling. The electro-hydraulic proportional valve controlled hydraulic cylinder leveling principle was illustrated. Fuzzy-PID control algorithm was used to achieve dynamic leveling of the vehicle platform. Using AMESim and MATLAB/Simulink software, modeling and co-simulation were made for the system. The results show that online self-tuning PID parameters by fuzzy controller,the control accuracy of the leveling system is improved,the leveling time is reduced,and the system robustness is enhanced.