基于Isight和AMEsim的挖掘机控制参数集成优化研究

运用法国AMEsim软件对液压挖掘机工作装置进行建模，实现了其机电液一体化系统的动态仿真，以优化设计软件Isight为平台集成AMEsim对挖掘机PID控制参数进行了多学科优化设计，改进了传统的设计方法。结果表明,经过集成优化的PID控制器其动臂液压缸跟踪误差降低57.4％，斗杆液压缸跟踪误差降低26.7％，铲斗液压缸跟踪误差降低4.3％，与原始方案相比均有较大的改善,因此能够实现较精确的运动轨迹，并且此法减少了传统方法确定PID控制参数的反复调整试错的时间，从而提高了设计的效率。

Integrated Optimization of the Control Parameters of Hydraulic Excavator Based on Isight and AMEsim Software

Excavator's manipulators were modeled by applying the French AMESim software for realizing the dynamic simulation of the integrative mechanics-electronics- hydraulics system. A multi-discipline optimized design for the parameters of PID controller was made by using the optimization software Isight and AMEsim, improving the conventional design method. The results show that the tracking error of beam jack decrease 57.4%, that of stick jack 26.7%, and that of bucket jack 4.3% compared with those obtained by the original PID controller, indicating a great improvement and enabling an accurate dynamic tracking. Moreover, the design efficiency is improved as the adjusting time for determining PID control parameters is reduced compared to that needed by the conventional method.