Research on PID Position Control of a Hydraulic Servo System Based on Kalman Genetic Optimization
With the wide application of hydraulic servo technology in control systems, the requirement of hydraulic servo position control performance is greater and greater. In order to solve the problems of slow response, poor precision, and weak anti-interference ability in hydraulic servo position controls...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-06-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/11/6/162 |
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| author | Ying-Qing Guo Xiu-Mei Zha Yao-Yu Shen Yi-Na Wang Gang Chen |
| author_facet | Ying-Qing Guo Xiu-Mei Zha Yao-Yu Shen Yi-Na Wang Gang Chen |
| author_sort | Ying-Qing Guo |
| collection | DOAJ |
| description | With the wide application of hydraulic servo technology in control systems, the requirement of hydraulic servo position control performance is greater and greater. In order to solve the problems of slow response, poor precision, and weak anti-interference ability in hydraulic servo position controls, a Kalman genetic optimization PID controller is designed. Firstly, aiming at the nonlinear problems such as internal leakage and oil compressibility in the hydraulic servo system, the mathematical model of the hydraulic servo system is established. By analyzing the working characteristics of the servo valve and hydraulic cylinder in the hydraulic servo system, the parameters in the mathematical model are determined. Secondly, a genetic algorithm is used to search the optimal proportional integral differential (PID) controller gain of the hydraulic servo system to realize the accurate control of valve-controlled hydraulic cylinder displacement in the hydraulic servo system. Under the positioning benchmark of step signal and sine wave signal, the PID algorithm and the genetic optimized PID algorithm are compared in the system simulation model established by Simulink. Finally, to solve the amplitude fluctuations caused by the GA optimized PID and reduce the influence of external disturbances, a Kalman filtering algorithm is added to the hydraulic servo system to reduce the amplitude fluctuations and the influence of external disturbances on the system. The simulation results show that the designed Kalman genetic optimization PID controller can be better applied to the position control of the hydraulic servo system. Compared with the traditional PID control algorithm, the PID algorithm optimized by genetic algorithm improves the system’s response speed and control accuracy; the Kalman filter is a good solution for the amplitude fluctuations caused by GA-optimized PID that reduces the influence of external disturbances on the hydraulic servo system. |
| first_indexed | 2024-03-10T00:43:30Z |
| format | Article |
| id | doaj.art-c4209966539c42e5bb92b8304fb2b48d |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T00:43:30Z |
| publishDate | 2022-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-c4209966539c42e5bb92b8304fb2b48d2023-11-23T15:04:11ZengMDPI AGActuators2076-08252022-06-0111616210.3390/act11060162Research on PID Position Control of a Hydraulic Servo System Based on Kalman Genetic OptimizationYing-Qing Guo0Xiu-Mei Zha1Yao-Yu Shen2Yi-Na Wang3Gang Chen4College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, ChinaCollege of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, ChinaCollege of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, ChinaCollege of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, ChinaCollege of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, ChinaWith the wide application of hydraulic servo technology in control systems, the requirement of hydraulic servo position control performance is greater and greater. In order to solve the problems of slow response, poor precision, and weak anti-interference ability in hydraulic servo position controls, a Kalman genetic optimization PID controller is designed. Firstly, aiming at the nonlinear problems such as internal leakage and oil compressibility in the hydraulic servo system, the mathematical model of the hydraulic servo system is established. By analyzing the working characteristics of the servo valve and hydraulic cylinder in the hydraulic servo system, the parameters in the mathematical model are determined. Secondly, a genetic algorithm is used to search the optimal proportional integral differential (PID) controller gain of the hydraulic servo system to realize the accurate control of valve-controlled hydraulic cylinder displacement in the hydraulic servo system. Under the positioning benchmark of step signal and sine wave signal, the PID algorithm and the genetic optimized PID algorithm are compared in the system simulation model established by Simulink. Finally, to solve the amplitude fluctuations caused by the GA optimized PID and reduce the influence of external disturbances, a Kalman filtering algorithm is added to the hydraulic servo system to reduce the amplitude fluctuations and the influence of external disturbances on the system. The simulation results show that the designed Kalman genetic optimization PID controller can be better applied to the position control of the hydraulic servo system. Compared with the traditional PID control algorithm, the PID algorithm optimized by genetic algorithm improves the system’s response speed and control accuracy; the Kalman filter is a good solution for the amplitude fluctuations caused by GA-optimized PID that reduces the influence of external disturbances on the hydraulic servo system.https://www.mdpi.com/2076-0825/11/6/162hydraulic servo systemvalve-controlled hydraulic cylinderPID controlgenetic optimizationKalman filter |
| spellingShingle | Ying-Qing Guo Xiu-Mei Zha Yao-Yu Shen Yi-Na Wang Gang Chen Research on PID Position Control of a Hydraulic Servo System Based on Kalman Genetic Optimization Actuators hydraulic servo system valve-controlled hydraulic cylinder PID control genetic optimization Kalman filter |
| title | Research on PID Position Control of a Hydraulic Servo System Based on Kalman Genetic Optimization |
| title_full | Research on PID Position Control of a Hydraulic Servo System Based on Kalman Genetic Optimization |
| title_fullStr | Research on PID Position Control of a Hydraulic Servo System Based on Kalman Genetic Optimization |
| title_full_unstemmed | Research on PID Position Control of a Hydraulic Servo System Based on Kalman Genetic Optimization |
| title_short | Research on PID Position Control of a Hydraulic Servo System Based on Kalman Genetic Optimization |
| title_sort | research on pid position control of a hydraulic servo system based on kalman genetic optimization |
| topic | hydraulic servo system valve-controlled hydraulic cylinder PID control genetic optimization Kalman filter |
| url | https://www.mdpi.com/2076-0825/11/6/162 |
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