【摘要】 针对电控升级后的挖掘式装载机（又称“扒渣机”），其电液比例阀控系统存在响应时间长、稳定性差等问题。为提高轨迹跟踪控制效果，本文设计了一种控制参数自整定的Fuzzy-PID控制器以实现扒渣机工作装置轨迹跟踪精确控制。通过分析铲斗联电液比例系统，建立基于AMESim和Simulink联合的机电液仿真模型来进行仿真研究。仿真结果表明，Fuzzy-PID控制器在正弦信号输入下具有更小的位置误差和滞后时间。最后，在空载情况下进行了周期性扒渣作业试验验证控制器性能。结果表明，Fuzzy-PID控制器的精度和稳定性均优于PID控制器，其均方根误差RMSE减少了39.71%。研究结果可为扒渣机智能控制提供参考及工程应用价值。更多还原

【Abstract】 For the excavator loader(also known as slag-raking machine) after the electronic control upgrade, its electro-hydraulic proportional valve control system has problems such as long response time and poor stability. In order to improve the effect of trajectory tracking control, a Fuzzy-PID controller with self-tuning control parameters is designed to realize the precise control of trajectory tracking of the working device of the slag-raking machine. By analyzing the bucket coupling electrohydraulic proportional system, an electro-hydraulic simulation model based on AMESim and Simulink is established to carry out simulation research. The simulation results show that the Fuzzy-PID controller has smaller position error and lag time under sinusoidal signal input. Finally, the periodic slag removal operation test was carried out under no-load condition to verify the performance of the controller. The results show that the accuracy and stability of the Fuzzy-PID controller are better than those of the PID controller, and the root mean square error RMSE is reduced by 39.71%. The research results can provide reference and engineering application value for the intelligent control of slag-raking machine.更多还原