基于搜索者优先算法的伺服系统PID控制器设计  被引量:16

Design of PID Controller in Servo Systems Based on Seeker Optimization Algorithm

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作  者:刘胜[1] 刘江华[1] 

机构地区:[1]哈尔滨工程大学自动化学院,哈尔滨150001

出  处:《控制工程》2017年第11期2189-2194,共6页Control Engineering of China

摘  要:PID控制在伺服系统中应用十分普遍,但参数整定过程比较麻烦。为了实现PID控制器参数的自整定,提出了一种采用搜索者优先算法(SOA)的PID参数自整定方法。为了提高控制精度并针对自整定的PID控制系统阶跃响应易产生尖峰超调和微幅震荡的问题,对适应度函数的选取方法进行了改进。为了证明该算法的有效性,利用MATLAB先对两个二阶延迟被控对象进行了仿真,最后将改进的算法应用于直流调速系统PID控制器的设计,仿真结果表明所提出的改进算法优化效果更好、适用性更强,自整定的直流调速系统在空载和负载条件下的动态特性与稳态误差均可取得满意的效果,对PID控制器参数自整定算法的研究具有一定的参考价值。PID control has been widely used in servo systems, but the process of parameter tuning is troublesome. In order to achieve parameter auto-tuning of the PID controller, the paper proposes a method based on SOA. In order to improve the control precision and solve the problem that the auto-tuning control system's step response is easy to produce peak overshoot and oscillation with small amplitude, an improved selection method for fitness functions is proposed. To prove the improved algorithm's validity, the simulation of two second-order delay controlled objects is carried out firstly using MATLAB and then the improved algorithm is applied to design the PID controller of the DC speed regulation system. The simulation results show that the improved algorithm has better optimization effect and stronger adaptability, and the dynamic characteristics and steady state error of the auto-tuning DC speed regulation system in no-load and load conditions are all satisfactory. It has a certain reference value for the study of PID controller parameter auto-tuning algorithm.

关 键 词:伺服系统 PID控制器 参数自整定 智能优化算法 

分 类 号:TP33[自动化与计算机技术—计算机系统结构]

 

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