基于遗传算法的永磁直线同步电机伺服系统参数设计  

Genetic algorithm based parameter selection of permanent magnet linear synchronous motor servo system design

作　　者：刘成颖[1] 刘龙飞[1] 孟凡伟[1] 李志军[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《清华大学学报（自然科学版）》2012年第12期1751-1757,共7页Journal of Tsinghua University(Science and Technology)

基　　金：国家重大科技专项课题(2011ZX04016-011;2009ZX04002-072)

摘　　要：为了提高直线电机伺服系统的动态性能,需要对PID控制器的参数进行优化设计。该文首先分析了数字PID的运算延时并在直线电机理论模型的基础上建立了伺服系统矢量控制仿真模型;然后通过以零干扰作用下的速度环阶跃响应上升过程和受到突加干扰力作用时的速度恢复过程构建速度环整定目标函数,克服了常用目标函数权重系数不易确定的问题;利用遗传算法对各环控制器参数分别单独进行整定,仿真实验结果表明比Ziegler-Nichols(Z-N)法使伺服系统具有更好的动态特性,验证了该整定方法的有效性;最后以提高伺服系统的动态刚度为目标,同时针对速度环和位置环单独整定时伺服系统刚度不一定达到最大的问题,提出了以位置环的阶跃响应上升过程和刚度特性构造目标函数对速度环和位置环控制器参数进行联合整定的方法。仿真和实验结果表明:联合整定方法得到的控制器参数与单独整定相比使伺服系统的动态刚度提高了81.3%,位置跟踪误差减小了40%以上。The performance of permanent magnet linear synchronous motor （PMLSM） servo systems can be improved by careful tuning of the proportion integration differentiation （PID） controller need to be tuned. A servo system model of the vector control was built based on an analysis of the digital PID delay time. The objective function was constructed using the step response of the speed loop without the disturbing force and the recovery of the speed loop after the interference to overcome the problem that the weight coefficients of the normal objective function are difficult to determine. The current and speed loop parameters are tuned separately using a genetic algorithm （GA）. Simulations show that the system has better performance than the Ziegler-Nichols （Z-N） method. Finally, since the stiffness can not be easily maximized when tuning the parameters separately, a method is given to tune the speed and position loops together using an objective function combining the step response of the position loop and its stiffness. Simulations and experiments show that this method increases the stiffness by 81.3% and reduces the tracking error by more than 40% compared to separately setting the parameters.

关 键 词：永磁直线同步电机 数字PID 遗传算法 参数整定 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]