基于模糊PID的液压杆塔调平控制方法研究*

doi:10.11985/2021.04.021

摘要/Abstract

摘要：

针对输电线路杆塔需要在容易下陷的土壤上进行液压提升作业前进行调平控制的情况,对受压土壤下陷特性进行研究,得出在液压杆对土壤施压的情况下,土壤下陷程度与施压程度是线性关系。在此基础上利用惯性测量单元(Inertial measurement unit,IMU)和实时动态差分定位技术(Real time kinematic,RTK)对调平过程中的杆塔倾斜状态进行测量,并且在二者频率不一致的基础上以卡尔曼滤波进行数据融合后,再以模糊PID控制算法实现杆塔调平控制。文章在试验中对比IMU和RTK在卡尔曼滤波融合下和没有融合的杆塔状态估计,其融合数据更具鲁棒性。并且在控制算法上对比传统PID控制算法和模糊PID控制算法,在超调量和恢复稳态时间上,模糊PID控制更具优势。

关键词: 液压杆塔调平, 卡尔曼滤波, 模糊PID控制, IMU, RTK

Abstract:

Aiming at the situation that the transmission line tower needs leveling control before hydraulic lifting operation on the soil prone to subsidence, the subsidence characteristics of the soil under pressure are studied, and it is found that the subsidence degree of the soil is linear with the pressure degree under the pressure of the hydraulic rod. On this basis, IMU(Inertial measurement unit) and RTK (Real time kinematic) are used to measure the tilt state of the tower in the leveling process, and on the basis of their inconsistent frequencies, Kalman filter is used for data fusion, and then fuzzy PID control algorithm is used to achieve the tower leveling control. In the experiment, the state estimation of the tower with IMU and RTK are compared under Kalman filter fusion and without fusion, and the fusion data is more robust. In addition, compared with the traditional PID control algorithm, the fuzzy PID control has more advantages in overshoot and steady-state recovery time.

Key words: Hydraulic tower leveling, Kalman filtering, Fuzzy PID control, IMU, RTK

中图分类号:

胡燃, 萧定辉, 卞佳音, 何泽斌, 陈建强, 林新生, 彭红刚. 基于模糊PID的液压杆塔调平控制方法研究^*[J]. 电气工程学报, 2021, 16(4): 166-173.

HU Ran, XIAO Dinghui, BIAN Jiayin, HE Zebin, CHEN Jianqiang, LIN Xinsheng, PENG Honggang. Research on Leveling Control Method of Hydraulic Tower Based on Fuzzy PID[J]. Journal of Electrical Engineering, 2021, 16(4): 166-173.

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