基于分数阶PID的宏微复合驱动器宏动控制策略
Macro-Micro Composite Actuator Macro Control Strategy Based on Fractional Order PID
喻曹丰 1魏益军 2郑爽 2杨坤 2陶雪枫 2肖志豪2
作者信息
- 1. 安徽理工大学机电工程学院,淮南 232001;浙江大学流体动力基础件与机电系统国家重点实验室,杭州 310027
- 2. 安徽理工大学机电工程学院,淮南 232001
- 折叠
摘要
针对宏微复合驱动器控制系统中存在定位误差大和调节时间长的问题,提出了一种基于次最优分数阶PID的控制策略.简述了宏微复合驱动器结构及工作原理,并基于电磁驱动原理建立了宏动部分数学模型;设计了分数阶PID控制器,并采用遗传算法和次最优的方法对控制器进行参数整定;通过数值仿真和实验验证了分数阶PID控制器的有效性.结果显示,采用分数阶PID控制器相较于传统PID控制器在5mm以及更大定位行程中位移超调量下降超过 57%,调节时间减少超过24%,且行程越大驱动器采用分数阶PID控制器控制效果越明显.研究结果表明,分数阶PID控制器在宏微复合驱动器宏动系统中的控制效果明显优于传统PID控制器.
Abstract
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.
关键词
宏微复合驱动器/遗传算法/分数阶PID控制器/音圈电机Key words
macro-micro composite actuator/genetic algorithm/fractional-order PID controller/voice coil motor引用本文复制引用
基金项目
国家自然科学基金(52105042)
中国博士后科学基金(2019M652159)
安徽省自然科学基金(2008085QE214)
国家重点实验室开放基金(GZKF-202302)
出版年
2024
NETL
NSTL
万方数据