基于粒子群模糊PID的织网机主动穿线板多电机协同控制  

Multi-motor cooperative control of netting machine based on particle swarm optimization-fuzzy PID

作　　者：侯崎山 孟婥[1] 明灿坤 张玉井 陈振宇 HOU Qishan;MENG Zhuo;MING Cankun;ZHANG Yujing;CHEN Zhenyu(College of Mechanical Engineering,Donghua University,Shanghai 201620,China)

机构地区：[1]东华大学机械工程学院,上海201620

出　　处：《东华大学学报（自然科学版）》2021年第1期70-76,共7页Journal of Donghua University(Natural Science)

基　　金：江苏省科技成果转化专项资助项目(BA2018061);江苏省“双创计划”资助项目(20190719)。

摘　　要：针对织网机主动穿线板多伺服电机协同控制问题,以3台电机为被控对象,将粒子群算法与模糊PID(proportion integration differentiation)控制相结合,设计基于粒子群算法的模糊PID控制器,粒子群算法优化控制系统的初始参数,结合模糊PID完成对多伺服电机协同控制系统的动态调整。为保证系统的同步控制性能,采用偏差耦合控制策略,引入了速度补偿器调节电机间的同步误差。仿真结果表明,相较于传统PID控制和模糊PID控制,改进后的控制器响应速度快、超调量小、稳健性较好,能更好地实现多伺服电机的协同控制,提高织网机成品的品质。Aiming at the multi-servomotor cooperative control system of netting machine,three motors were the controlled objects.By studying the fuzzy control and intelligent algorithm,the particle swarm optimization algorithm was combined with the fuzzy PID(proportion integration differentiation),and the fuzzy PID controller based on particle swarm optimization was designed.The initial parameters of the control system were optimized by particle swarm optimization,and the fuzzy PID completed the dynamic adjustment of the system.In order to ensure the synchronous control performance of the system,a bias coupling control strategy was adopted,and a speed compensator was introduced to adjust the synchronization error between the motors.The simulation results show that compared with the traditional PID control and fuzzy PID control,the improved controller has fast response speed,small overshoot and good robustness,and can better realize the cooperative control of multi-servomotor,which improve the quality of the netting machine products.

关 键 词：织网机 主动穿线板 粒子群优化算法 模糊PID控制 多伺服电机协同 偏差耦合 

分 类 号：TM383.6[电气工程—电机]