基于遗传算法的滚珠丝杠副控制器设计与仿真  

Ball Screw Pair Controller Design & Simulation Based on Genetic Algorithm

作　　者：黄彦曌 王科社[1] 黄喜淦 段密克 HUANG Yan-zhao;WANG Ke-she;HUANG Xi-gan;DUAN Mi-ke(Beijing Information Science and Technology University,beijing 100192,China)

机构地区：[1]北京信息科技大学,北京100192

出　　处：《新型工业化》2017年第11期5-10,共6页The Journal of New Industrialization

摘　　要：针对高速滚珠丝杠副综合性能指标的测量需求,设计了一套基于永磁同步直线电机提供模拟工况环境的动态加载力,永磁同步电机连接被测滚珠丝杠高速旋转的传动机构伺服控制系统。由于直线电机推力的波动、非线性摩擦力以及外部干扰的存在,被测丝杠的定位精度很容易受到影响,速度跟踪和位置跟踪时发生"死区"现象和"平定"现象而降低定位精度。本文通过对测试平台的机械结构和控制系统进行分析,建立系统动力学模型和干扰力模型,并提出基于遗传算法的PID调节和干扰力前馈补偿控制,实现系统误差现象补偿。MATLAB仿真结果表明,补偿后基本消除动态跟踪误差所造成的"平顶"和"死区"现象,有效提高了系统的控制定位精度。To comprehensive performance index of high speed ball screw pair measurement requirements,design a set of based on permanent magnet synchronous linear motor provides the working condition of simulated environment dynamic loading force,the permanent magnet synchronous motor connection of high-speed ball sc-rew rotation actuator servo control system.Because of the linear motor thrust ripple,the nonlinear friction and the existence of external disturbance,the positioning prec-ision of screw to be measured is easy to be affected,speed tracking and location tra-cking“dead zones”occur when“pacify”phenomenon and reduce the positioning acc-uracy.Based on the test platform of the mechanical structure and control system w-ere analyzed,and the system dynamics model is established and the interference force model,and puts forward PID control based on genetic algorithm and interference force feedforward compensation control,and realize the phenomenon of system error compensation.MATLAB simulation results show that the“flat top”and“dead zone”phenomenon resulted from the basic elimination of the dynamic tracking error and effectively improve the control positioning accuracy of the system.

关 键 词：伺服控制系统 遗传算法 PID自适应 干扰力补偿 MATLAB仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]