粒子群算法优化的液压球形关节自抗扰控制研究  

Research on Active Disturbance Rejection Control for Hydraulic Spherical Joint Based on Particle Swarm Optimization

作　　者：任洵涛 边斌 王亮[2] REN Xuntao;BIAN Bin;WANG Liang(China State Shipbuilding Corporation Limited 704th Research Institute,Shanghai 200031,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China)

机构地区：[1]中国船舶集团有限公司第七〇四研究所,上海200031 [2]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《机床与液压》2022年第7期69-73,共5页Machine Tool & Hydraulics

摘　　要：以液压球形关节为研究对象,针对其多输入多输出、非线性和模型不确定性等特征,采用一种基于改进型粒子群算法(PSO)参数自整定的自抗扰控制器(ADRC)。分析ADRC各参数的意义和整定原则,采用改进的非线性动态方式更新PSO的惯性权重,并引入基于时间乘以绝对误差积分的优化准则(ITAE),运用改进型PSO在线自整定ADRC的参数。利用MATLAB/Simulink建立控制系统仿真模型,结果表明:与传统ADRC相比,经过改进型PSO参数优化的ADRC具有更好的控制性能,在α和β运动方向上超调量分别减小0.3、0.13 rad,调节时间分别缩短0.98、0.59 s。Taking a hydraulic spherical joint as the research object, aiming at the characteristics of multi-input multi-output, nonlinearity and model uncertainties, a parameter self-tuning active disturbance rejection controller(ADRC) based on an improved particle swarm optimization(PSO) algorithm was proposed.The significance and setting principle of each parameter of ADRC were analyzed, an improved nonlinear dynamic method was used to update the inertia weight of PSO,the product of time and absolute error integral(ITAE) was use as an optimization criterion, and the improved PSO was used to self-adjust parameters of ADRC online.The control system simulation model was established by using MATLAB/Simulink.The results show that compared with the traditional ADRC,the ADRC optimized by the improved PSO has better control performance, the overshoots in the α and β directions are respectively reduced by 0.3 rad, 0.13 rad, and the settling time are respectively reduced by 0.98 s, 0.59 s.

关 键 词：液压球形关节 自抗扰控制 粒子群算法 参数优化 

分 类 号：TH122[机械工程—机械设计及理论]