毛艳　成凯

摘   要：钢丝绳联接的配重升降时，其同步控制对速度、响应、精度和平稳性等指标要求很高，且宽负载工况下，定参数PID难以满足控制要求. 本文首先设计了变基准主从策略作为底层策略，实现系统设计的最大升降速度和精度. 其次提出一种变参数PID自适应控制方法. 该方法将参数Kp、Ki、Kd，按照整定规则作为代价项引入偏差目标函数，用于元启发算法适应度计算. 对于搜索到的参数组（Kp、Ki、Kd），当代价项较小时，目标值较小，适应度较大. 因此，算法能自适应整定参数以获得最小偏差值. 分别采用遗传和粒子群算法进行实时参数整定、偏差优化和同步追随，并与定参数PID进行同步效果比较. 仿真结果显示：变参数PID自适应控制方法适应宽负载工况，其精度、响应以及稳定性指标全面优于定参数PID. 基于变基准策略的PID参数自适应控制方法能夠实现大惯性系统的快速、稳定同步升降.

关键词：钢丝绳联接配重;升降;同步;偏差;PID控制;自整定

中图分类号：TP183                              文献标志码：A

Research on Synchronous Lifting Control

of Flexible Connection Counterweight System

MAO Yan，CHENG Kai

（College of Mechanical and Aerospace Engineering，Jilin University，Changchun 130022，China）

Abstract：When lifting the wire rope connection counterweight， synchronous  control has high requirements on speed， response， precision and stability， and the fixed parameters PID （FPP） is hard to meet the control requirements under wide load conditions. Firstly， a master-slave variable benchmark strategy （VBS） is designed as the bottom strategy to achieve the maximum speed and accuracy of system design. Secondly， it proposes a variable parameters PID self-adaption approach （VPPSA）. In this approach， the parameters Kp，Ki，Kd following tuning rules are introduced into deviation objective function as cost items for the fitness calculation of meta-heuristic algorithm. For the searched group（Kp，Ki，Kd），when the cost items are small， the objective value is small and the fitness is large. Therefore， the parameters can be tuned adaptively to obtain the minimum deviation value. Genetic algorithm （GA） and particle swarm optimization algorithm （PSO） are used for real-time parameters tuning， deviation optimizing and synchronization tracking，respectively， and the synchronization effects are compared with that of FPP. Simulation shows that the VPPSA can adapt to wide range of load conditions， and has better performances in terms of accuracy， response and stability than the FPP. The VPPSA based on VBS can realize the rapid and stable synchronous lifting of large inertia system.

Key words：wire rope connection counterweight;lifting;synchronization;error;PID control;self tuning

起重机械一般带有平衡配重，配重量与起重量匹配，传统配重升降是竖直的提升油缸刚性联接配重块，油缸伸缩使得配重起升或下降. 随着大规模经济建设加速，对大型、巨型起重机械的需求增加. 额定起重量超千吨级的起重机，平衡配重达数百吨，其重载提升油缸尺寸大、直立安装困难且限制了配重提升高度. 于是，一种重载油缸横置、油缸活塞通过钢丝绳排和滑轮组柔性联接至配……