基于IGWO-BP-PID的管廊吊具液压缸同步控制研究

综合管廊吊装吨位重且存在偏载起吊的不利工况，易发生危险事故。为保证管廊节段偏载吊装工况下的安全稳定性，提高吊具液压缸组的同步控制精度，提出IGWO-BP-PID与状态差值反馈同步控制策略。通过分析专用吊具结构及液压原理，将液压缸按纵向分为2组。通过在GWO中对灰狼位置进行更新，实现IGWO对BP-PID参数的优化。采用3种控制器进行系统控制分析，验证IGWO-BP-PID的控制效果。最后，采用IGWO-BP-PID与状态差值反馈相结合的同步控制策略，对吊具液压缸组进行AMESim/Simulink联合仿真，并与试验数据进行对比分析。研究结果表明：IGWO-BP-PID控制器无超调量、具有更好的控制效果；相比于常规PID控制，该方法缩短了液压缸组震荡调节时间，同步控制精度更高；试验验证了管廊吊具同步控制策略的有效性，满足工程施工要求。

Synchronous Control of Hydraulic Cylinders of Utility Tunnel Spreader Based on IGWO-BP-PID

Utility tunnel has the adverse condition of large-tonnage bias load hoisting,and it is prone to dangerous accidents.To ensure safety and stability of utility tunnel section hoisting,and to improve synchronous control accuracy of hydraulic cylinder groups of the special spreader,a synchronous control strategy combining IGWO-BP-PID (improved gray wolf optimization-BP neural network-PID) and state difference feedback was studied.Based on the analysis of structure and hydraulic principle of the spreader,the hydraulic cylinders were divided into two groups longitudinally.Gray wolf position was updated in the GWO to achieve optimization of BP-PID parameters by IGWO.Then,three controllers were used to make the system control analyses,and the control effect of IGWO-BP-PID was verified.Finally,synchronous control strategy combining IGWO-BP-PID and state-difference feedback was applied to jointly simulate hydraulic cylinder groups in AMESim/Simulink,and the comparative analysis of the simulation and field test data was carried out.The research results show that IGWO-BP-PID controller has no overshoot and has better control effect.Compared with the conventional PID control,using the proposed method,the oscillation adjustment time of the hydraulic cylinder groups is shortened,and the synchronous control accuracy is higher.The field test verifies the effectiveness of synchronous control strategy of utility tunnel spreader,which meets the engineering construction requirements.