| The single blade spreader is the key basic equipment in the field of wind power installation,and the hydraulic system control performance of the spreader is an important technical index to determine its engineering reliability.The influence of external environment and the change of load force on the actuator when adjusting the attitude change are the main reasons for the decrease of the control performance of the hydraulic system.The analysis and optimization of the spreader control system is an effective technical means to improve its control performance index.Therefore,the change of the load force of the hydraulic cylinder is analyzed,and an intelligent control method is proposed to improve the anti-load interference ability of the system.The whale optimization algorithm is used to optimize the scaling factor of the fuzzy domain,and the PID value is adjusted in real time according to the parameter change under the actual working condition,so as to realize the high-precision control of the sling servo system.According to the characteristics of high load and harsh working environment,a single blade spreader driven by double hydraulic cylinders on the same side is proposed,which has higher bearing capacity and can meet the technical requirements of equipment safety and reliability.The three-dimensional model of the swing arm mechanism of the spreader is established to solve the physical parameters of the spreader.Taking the level as the initial state of the spreader,the kinematics analysis of its left-leaning and right-leaning process is carried out respectively,and the relationship between the displacement speed and the adjustment angle of the swing arm hydraulic cylinder is obtained.The dynamic calculation and dynamic analysis of the sling are carried out,and the change of the load force of the swing arm hydraulic cylinder group with the adjustment angle is obtained.According to the technical requirements and working conditions of the spreader,the hydraulic system is designed.The mathematical model of valve controlled hydraulic cylinder system and each component is established,and the model of electro-hydraulic servo system is integrated.By analyzing and evaluating the stability of the system,the factors affecting the stability are adjusted and optimized.PID control and fuzzy control are introduced into the electro-hydraulic servo system,and the system response performance under non-interference and interference conditions is analyzed respectively.By comparison,fuzzy PID has the ability to adjust control parameters in real time,and its control effect is higher than that of traditional PID and has certain robustness.The whale optimization algorithm and the variable universe idea are applied to fuzzy control,and the fuzzy rules are optimized to guide the fuzzy PID control more efficiently.Through the analysis and comparison of the response performance,the whale optimization fuzzy PID has a greater effect on the system control performance.The synchronous control model of the swing arm cylinder group of the spreader is established.The synchronous control scheme of the feedback correction and the unilateral compensation correction is selected and the synchronous control effect under the interference condition is analyzed.The results show that the synchronous effect of the unilateral compensation correction is better. |
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