Macro-Micro Composite Actuator Macro Control Strategy Based on Fractional Order PID
Aiming at the problems of large positioning error and long adjustment time in macro-micro com-posite actuator control system,In this paper,a control strategy based on suboptimal fractional PID is pro-posed.The paper briefly describes the structure and working principle of macro-micro composite actuator,and establishes a mathematical model of macro-motion based on the electromagnetic actuator principle.The fractional PID controller was designed,and the genetic algorithm and suboptimal method were used to ad-just the parameters of the controller.Numerical simulation and experiments verify the effectiveness of frac-tional PID controller.The results show that compared with the traditional PID controller,the displacement overshoot of 5mm and larger positioning stroke with the fractional order PID controller is reduced by more than 57%,and the adjustment time is reduced by more than 24%,and the larger the stroke,the more obvi-ous the control effect of the actuator using the fractional order PID controller.The results show that the con-trol effect of fractional PID controller in macro-micro composite actuator macro system is significantly bet-ter than that of traditional PID controller.
macro-micro composite actuatorgenetic algorithmfractional-order PID controllervoice coil motor