Abstract: A controller optimization design study was carried out in this paper to improve the dynamic characteristics of the asymmetric hydraulic cylinder system controlled by a fourway valve. The model identification was conducted using a joint simulation of AMESimMATLAB, resulting in a transfer function model with an average displacement error of only 4.31mm, demonstrating high accuracy. The frequency domain characteristics were analyzed based on the Bode diagram. The results showed that the system was stable, but the sensitivity and responding speed were unsatisfactory. Two optimal PID controllers were designed. The optimal PID controller based on the genetic algorithm had the fastest response speed, with delay time, rise time, and maximum overshoot are 0.152s, 0.323s, and 3.43%, respectively. The optimal PID controller based on the firstorder delay approximation model had high control accuracy, with delay time, rise time, and maximum overshoot of 0.396s, 0.438s, and 0, respectively. Both designed controllers can effectively improve the dynamic characteristics of the system.

Key words:  , asymmetric hydraulic cylinder system controlled by a fourway valve, controller 

摘要： 为优化四通阀控非对称液压缸系统的动态特性，开展控制器优化设计研究。通过AMESimMATLAB联合仿真的方法开展模型辨识，所构建的传递函数模型的位移误差平均值仅为4.31mm，具有较高的准确度。基于伯德图进行系统的频域分析，结果表明所构建的系统是稳定的，但灵敏度和响应速度较差。设计两种最优PID控制器，基于遗传算法的最优PID控制器响应速度最快，其延迟时间、上升时间和最大超调量分别为0.152s、0.323s和3.43%，基于一阶模型延迟近似的最优PID控制器具有较高的控制精度，其延迟时间、上升时间和最大超调量分别为0.396s、0.438s和0。两种控制器均有效地改善系统的动态特性。

关键词: 四通阀控非对称液压缸, 控制器优化, 模型辨识, 遗传算法, 最优PID控制器