LI Ya-qiu， GU Li-chen， YANG Sha， XUE Xu-fei
（School of Mechatronic Engineering, Xi’an University of Architecture and Technology, Xi’an 710055, China）
Abstract： Injection molding machine, hydraulic elevator, speed actuators belong to variable speed pump control cylinder system. Because variable speed pump control cylinder system is a nonlinear hydraulic system, it has some problems such as response lag and poor steady-state accuracy. To solve these problems, for the hydraulic cylinder of injection molding machine driven by the servo motor, a fractional order proportion-integration-diferentiation (FOPID) control strategy is proposed to realize the speed tracking control. Combined with the adaptive differential evolution algorithm, FOPID control strategy is used to determine the parameters of controller on line based on the test on the servo-motor-driven gear-pump-controlled hydraulic cylinder injection molding machine. Then the slef-adaptive differential evolution fractional order PID controller (SADE-FOPID) model of variable speed pump-controlled hydraulic cylinder is established in the test system with simulated loading. The simulation results show that compared with the classical PID control, the FOPID has better steady-state accuracy and fast response when the control parameters are optimized by the adaptive differential evolution algorithm. Experimental results show that SADE-FOPID control strategy is effective and feasible, and has good anti-load disturbance performance.
Key words： variable speed pump-controlled cylinder; fractional order proportion-integration-differentiation (FOPID); self-adaptive differential evolution (SADE); injection molding machine control; anti-load disturbance
CLD number： TP273 doi： 10.3969/j.issn.1674-8042.2020.04.002
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基于差分进化分数阶PID的注塑机液压缸控制
李亚秋， 谷立臣， 杨 莎， 薛旭飞
（西安建筑科技大学 机电工程学院， 陕西 西安 710055）
摘 要: 注塑机、 液压电梯、 调速作动器等变转速泵控缸属强非线性液压系统， 其速度跟踪控制存在响应滞后、 稳态精度差等问题， 为此， 提出基于分数阶PID的控制策略来实现由伺服电机驱动定量泵的注塑机液压缸速度跟踪控制。 首先， 结合自适应差分进化算法对控制器参数进行在线整定； 然后， 利用伺服电机驱动的齿轮泵控液压缸注塑机工况模拟加载试验系统， 建立了变转速泵控液压缸的差分进化分数阶PID控制器（Self-adaptive differential evolution fractional order PID, SADE-FOPID）模型。 仿真结果表明， 运用自适应差分进化算法优化控制参数的分数阶PID控制比经典PID控制具备更好的稳态精度和快速响应性能， 反复实验结果证明了该控制策略的有效性和可行性， 并具备良好的抗负载扰动性能。
关键词: 变转速泵控液压缸； 差分阶PID控制； 自适应差分进化； 注塑机控制； 抗负载扰动
引用格式： LI Ya-qiu， GU Li-chen， YANG Sha， et al. Hydraulic cylinder control of injection molding machine based on differential evolution fractional order PID. Journal of Measurement Science and Instrumentation, 2020, 11（4）： 317-325. ［doi： 10.3969／j.issn.1674-8042.2020.04.002］
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