Parameter Tuning Method of Servo Motor Active DisturBance Rejection Controller Based on Immune Genetic Algorithm
For the parameter tuning problem of permanent magnet synchronous servo motor active disturbance rejection controller(ADRC),the trial-and-error method and other optimization algorithms have the problems of complicated tuning process and local optimal results.The adopted method for tuning the parameters of the controller for a permanent magnet synchronous servo motor involves a fusion of immune algorithm and genetic algorithm.The integrated approach incorporates the immune information processing mechanism of the immune algorithm into the genetic algorithm,addressing the issue of the genetic algorithm getting trapped in local optima.This enables the rapid achievement of the parameters tuning goal for the controller.The MATLAB simulation results indicate that this method enhances the response speed and disturbance rejection capability of the controller.Additionally,it reduces tracking error by approximately 5.6%.The approach is applicable for the multi-parameter tuning of the ADRC in servo motor systems.
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