直驱式电液伺服转叶舵机退火蚁群寻优PD控制  

PD controller based on simulated annealing ant colony optimization algorithm in direct drive electro-hydraulic servo rotary vane steering gear

作　　者：苏文海[1,2] 姜继海[2] 刘庆和[2] 

机构地区：[1]东北农业大学工程学院,黑龙江哈尔滨150030 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150080

出　　处：《电机与控制学报》2010年第1期102-106,共5页Electric Machines and Control

基　　金：国防基础科研基金(A2320060114)

摘　　要：针对直驱式电液伺服转叶舵机转动惯量大、时变不确定性和外负载复杂的特点,提出一种以最大最小蚂蚁算法和模拟退火策略为基础的具有不完全微分的PD控制器的设计方法。该控制器能在线搜索出一组最优PD控制参数Kp*和Kd*作为直驱式电液伺服转叶舵机实时控制中的PD控制器参数。在直驱式电液伺服转叶舵机及加载实验台上进行了阶跃响应和斜坡响应实验。实验结果表明,与传统PD控制器相比,基于退火蚂蚁群算法的PD控制器具有良好的动态性能和鲁棒性,能有效地提高直驱式电液伺服转叶舵机的控制精确度。A new designing method for the optimal PD controller with incomplete derivation is proposed based on Max-Min ant optimization and simulated annealing for direct drive electro-hydraulic （DDEH） servo rotary vane steering gear, which suffers from high rotary inertia, severs time-varying uncertainty and external disturbance load. In this method, a group of optimal PD parameters Kp^＊ and Kd^＊ were obtained, which were used as the parameters of the PD controller in real-time control for DDEH servo rotary vane steering gear. Experimental results of step response experiments and ramp response experiments demonstrate that this kind of PD controller is better than the conventional PD controllers in the dynamic behavior of system response the tracking error is decreased, and the system＇s robustness is enhanced.

关 键 词：直驱式 舵机控制 PD控制 蚁群算法 模拟退火算法 

分 类 号：U664.4[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]