基于优化非线性控制的齿轮传动系统动态误差研究  

Study on Dynamic Error of Gear Transmission System with Optimized Nonlinear Control

作　　者：吴瑞芳 贾讼敏 郝贵敏 WU Ruifang;JIA Songmin;HAO Guimin(Department of Mechanical and Electrical Engineering,Langfang Yanjing Vocational Technical College,Langfang Heibei 274015,China;Department of Information,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]廊坊燕京职业技术学院机电工程系,河北廊坊274015 [2]北京工业大学信息学部,北京100124

出　　处：《机床与液压》2020年第16期140-144,共5页Machine Tool & Hydraulics

基　　金：北京市自然科学基金重点项目(KZ201310006012)。

摘　　要：针对齿轮传动系统运动角位移跟踪误差较大、振动幅度相对严重等问题,对直齿圆柱齿轮运动过程中产生的角位移和输出扭矩等进行研究。建立齿轮传动系统模型,给出齿轮传动系统动力学方程式。对传统线性PID控制系统进行改进,设计非线性PID控制系统。引入粒子群算法,对粒子群算法权重系数进行改进。采用改进后的粒子群算法优化非线性PID控制系统,通过反馈误差对PID控制器参数进行调节,从而达到控制系统输出误差的补偿目标。利用MATLAB软件对优化后的齿轮传动系统输出误差和扭矩进行仿真,并且与线性PID控制结果进行对比。结果表明:与线性PID控制系统相比,优化后的齿轮传动控制系统能够在线调节各项控制参数,从而提高齿轮传动精度。该控制系统反应速度快,稳定性较好,抗干扰能力强,具有较高的控制精度。In view of the problems of large tracking error of angular displacement and relatively serious vibration amplitude of the gear transmission system,the angular displacement and output torque produced in the process of straight tooth cylindrical gear movement were studied.The model of the gear transmission system was established,and the dynamic equation of gear transmission system was given.The traditional linear PID control system was improved and the nonlinear PID control system was designed.The weight coefficient of PSO was improved by using PSO.The improved particle swarm optimization algorithm was used to optimize the nonlinear PID control system,and the PID controller parameters were adjusted by the feedback error,so as to achieve the compensation goal of the control system output error.MATLAB software was used to simulate the output error and torque of the optimized gear transmission system,and the results were compared with that of linear PID control.The results show that compared with the linear PID control system,the optimized gear transmission control system can adjust all control parameters online,thus improving the accuracy of gear transmission.The control system has fast response speed,good stability,strong anti-interference ability and high control accuracy.

关 键 词：齿轮传动系统 非线性PID控制 粒子群算法 动态误差 

分 类 号：TH132[机械工程—机械制造及自动化]