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Abstract
To enhance the anti-interference capability of an electrohydraulic force servo control system and increase the efficiency of the PID controller, this paper proposes a LBAS-PID controller. In LBAS, the random step created by the Lévy flight trajectory was used in the original algorithm to enhance the diversity of the population and convergence speed. In the force servo control system, LBAS-PID can enhance the performance of the system. First, the basic mathematical model of an electrohydraulic force servo control system was built based on theoretical analysis. The transfer function model was obtained by identifying the system parameters. Second, the introduced Lévy flight beetle antennae search algorithm was introduced and applied to ten benchmark functions, and the results were compared with those of other algorithms. Then, the proposed algorithm was applied in the PID controller to tune PID parameters in the force servo control system. To comprehensively evaluate performances of an electrohydraulic force servo control system that is controlled by the LBAS-PID controller, the frequency response analysis and temporal response analysis were obtained. The numerical analysis results indicate that an electrohydraulic force servo control system with an LBAS-PID controller could substantially increase the control characteristics of the system and restrain the external disturbances when different interference signals are examined.
Highlights
Electrohydraulic systems (EHSs) have been one of the most sought-after subjects in the industrial and academic fields because of high force/mass ratio, fast linear movement, and large torque/force output capability [1,2,3]
It is certain that the Levy flight beetle antennae search algorithm (LBAS) has the fastest convergence rate in the early optimization stage and the highest searching accuracy in the later optimization stage. e underlying reason for the excellent performance of the proposed LBAS is that the step size and the orientation of the LBAS searching route are highly random based on the Levy flight mechanism; the LBAS can to jump out of the local optimum when falling into local convergence, and it more quickly reaches the optimal value
To enhance the control performance and efficiency of the electrohydraulic force servo control systems, the LBAS-PID controller, whose PID parameters are tuned by the LBAS algorithm, has been incorporated into a force servo control system. e LBAS technique that is inspired by the Levy flight trajectory, which is an advanced form of the basic beetle antennae search algorithm, has better convergence capabilities and can compensate for the weak local search problem. en, the basic mathematical model of an electrohydraulic force servo control system was systematically discussed using theoretical analysis and study. e transfer function model was calculated by system parameter identification
Summary
Electrohydraulic systems (EHSs) have been one of the most sought-after subjects in the industrial and academic fields because of high force/mass ratio, fast linear movement, and large torque/force output capability [1,2,3]. PID controller designed by other nature-inspired optimization algorithms is applied in servo systems. To further increase the optimization capabilities of BAS while simultaneously strengthening the PID-working abilities of hydraulic force actuator systems, this paper proposes the Levy flight beetle antennae search algorithm (LBAS) by Levy random walking type whose step lengths are distributed according to heavy power-law tails, and this paper proposes the LBAS-PID controller whose parameters are tuned by LBAS in force servo systems. E transfer function model of the electrohydraulic force servo system can be gained by using system parameter identification. E electrohydraulic servo valve, which is used as an electrohydraulic transfer apparatus, works by transforming the lower input signal into the useful hydraulic pressure energy to accomplish targets of hydraulic systems. E open-loop transfer function of the force servo control system from the servo valve spool displacement to the exerted force can be deduced from (1) to (9). e transfer function can be expressed by Gforce(s) mVt/4βeA2s3 +
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