基于差分进化的幕墙百叶伺服电机自抗扰控制  

Auto-disturbance-rejection Control of Curtain wall Shutter Servo Motor Based on Differential Evolution

作　　者：赵蕾[1] 白甲丽 ZHAO Lei;BAI Jiali(School of Building Services Science and Engineering,Xi'an University of Architecture Science and Technology,Xi'an 710055,China;School of Information and Control Engineering,Xi'an University of Architecture Science and Technology,Xi'an 710055,China)

机构地区：[1]西安建筑科技大学建筑设备科学与工程学院,西安710055 [2]西安建筑科技大学信息与控制工程学院,西安710055

出　　处：《计算机测量与控制》2021年第11期88-94,共7页Computer Measurement &Control

摘　　要：针对传统PID、模糊控制算法设计简单,无法对实际系统进行扰动补偿,导致外部未知干拢影响伺服电机的控制,提出一种基于差分进化的伺服电机自抗扰控制技术;通过对自抗扰控制中参数k_(p)、k_(d)的动态整定,对比了基于差分进化算法(DE-ADRC)、自抗扰控制算法(ADRC)、PID算法的跟踪误差,结果显示DE-ADRC算法具有明显优势,较ADRC算法、PID算法的跟踪误差分别降低了54%和49%;进一步利用蒙特卡罗统计学算法对控制对象进行仿真,以超调量、调节时间和误差绝对值积分为控制性能评估指标证明所提出的DE-ADRC算法比PID算法和ADRC算法具有更强的鲁棒性和系统抗干扰能力,为伺服电机在实际工程中抗干扰能力的增强提供了技术支持。Aiming at the simple design of traditional PID and fuzzy control algorithms,which can't compensate the actual system disturbance,resulting in external unknown interference affecting the control of the servo motor,a servo motor auto-disturbance rejection control technology based on differential evolution is proposed.Through the dynamic adjustment of the parameters k_(p) and k_(d) in the active disturbance rejection control,the tracking errors based on the differential evolution algorithm(DE-ADRC),the active disturbance rejection control algorithm(ADRC),and the PID algorithm are compared.DE-ADRC algorithm has obvious advantages.Compared with ADRC algorithm and PID algorithm,the tracking error is reduced by 54%and 49%respectively.The Monte Carlo statistical algorithm is further used to simulate the control object,and the overshoot,adjustment time,and absolute error integral are used as control performance evaluation indicators to prove that the proposed DE-ADRC algorithm is more robust than the PID algorithm and the ADRC algorithm.The robustness and system anti-interference ability provide technical support for the enhancement of the anti-interference ability of the servo motor in actual engineering.

关 键 词：伺服电机 自抗扰控制 差分进化 蒙特卡罗方法 鲁棒性 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]