机器人运动双闭环控制策略  

Double Closed Loop Control Strategy for Robot Motion

作　　者：潘若妍 李镇 朱霄 周振雄 PAN Ruoyan;LI Zhen;ZHU Xiao;ZHOU Zhenxiong(College of Electrical and Information,Beihua University,Jilin Jilin 132013,China)

机构地区：[1]北华大学电气与信息工程学院,吉林吉林132013

出　　处：《机床与液压》2022年第17期1-5,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(61179012);吉林省发改委项目(2019C058-1);吉林省教育厅项目(JJKH20200042KJ;20200404203YY);吉林省教育厅科学技术研究项目(JJKH20180342KJ);北华大学研究生创新项目(2021010)。

摘　　要：为解决蝙蝠算法无法进行高维计算的问题,将定向环节与蝙蝠算法结合,避免过早收敛,增强探索能力,使它能够进行高维计算,更快搜索到全局最优解。通过建立数学模型,在MATLAB/Simulink中进行仿真并进行实验验证。结果表明:基于定向蝙蝠算法优化的自抗扰控制器的直流电机能够减少超调、响应速度快、抗干扰能力更强、精度更高。In order to solve the problem that bat algorithm can not be used for high-dimensional calculation,the directional link was combined with bat algorithm to avoid premature convergence and enhance the ability of exploration,so high-dimensional calculation could be carried out and the global optimal solution could be searched faster.By building the mathematical model,the simulation was carried out in Simulink of MATLAB,and the experimental verification was carried out.The results show that the overshoot can be reduced by using the DC motor based on the active disturbance rejection controller optimized by directional bat algorithm,and the motor has fast response speed,stronger anti-interference ability and higher accuracy.

关 键 词：双闭环控制策略 自抗扰能力 定向蝙蝠算法 直流电机 

分 类 号：TM33[电气工程—电机]