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为提升工程装备的远程操控能力,给某电控液压挖掘机引入移动自组网和总线控制系统。融合控制网与信息网,构建一个完全网络化的闭环多输入、多输出控制系统。针对挖掘机电液伺服系统和网络控制系统的特点,以Z-N整定PID为基础,设计了模糊PID控制器。通过仿真与试验,证明模糊PID比Z-N整定PID有更好的响应特性,能有效满足具有复杂非线性特征的挖掘机远程伺服系统的要求。
In order to enhance the remote control ability of engineering equipment, it introduces mobile ad hoc network and bus control system to an electric control hydraulic excavator. Integration of control network and information network, to build a fully networked closed-loop multi-input, multi-output control system. According to the characteristics of excavator electro-hydraulic servo system and network control system, a fuzzy PID controller is designed based on Z-N tuning PID. Through simulation and experiment, it is proved that fuzzy PID has better response characteristics than Z-N tuning PID and can effectively meet the requirements of remote servo system of excavator with complex nonlinear characteristics.