基于QPSO算法优化跳汰机排料系统的分数阶PID控制

针对传统PID控制在复杂跳汰机排料系统中控制精度不高、响应速度慢、参数调整不够精确等问题,提出了一种基于QPSO算法优化的分数阶PI~λD~μ控制器(QPSO-FOPID).该控制器利用分数阶微积分理论,将传统PID控制由整数阶次推广到复数阶次,并增加了两个参数的自由度.同时利用量子粒子群算法对分数阶PI~λD~μ控制器参数进行寻优,解决参数调整不精确的问题.以某矿井跳汰机排料系统为例,建立跳汰机排料系统控制的Simulink仿真模型.仿真结果表明,该方法不仅能够实现分数阶PI~λD~μ控制参数的在线优化,收敛速度快,具有较强的鲁棒性,还具有良好的动、静态性能,无超调现象,控制精度高.

Fractional order PID control of discharge system of jigger based on QPSO algorithm optimization

Aiming at the fact that the traditional PID control in the complex discharge system of jigger has such problems as low control precision, slow response speed and inaccurate parameter adjustment, a fractional order PI^{D controller based on the QPSO algorithm optimization(QPSO-FOPID)was proposed. With the fractional order calculus theory, the traditional PID control was generalized from the integer order to the plural order with the proposed controller, and the degrees of freedom of two parameters were increased. At the same time, the parameters for the fractional order PID controller were optimized with the quantum-behaved particle swarm optimization(QPSO)to solve the problem of imprecise parameter adjustment. With taking the discharge system of jigger for a certain mine as an example, the Simulink simulation model for the discharge system of jigger was established. The simulation results show that the proposed method can not only realize the online optimization of fractional order PID control parameters, but also has the advantages such as the fast convergence, strong robustness, good dynamic and static performance, no overshoot and high control accuracy.μλμλμ}λ