分数阶PID控制在电动变载荷加载系统中的应用  

Fractional order PID control in an electric variable load loading system

作　　者：刘福才[1] 王海澎 LIU Fucai;WANG Haipeng(Hebei Provincial Key Laboratory of Industrial Computer Control Engineering,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]燕山大学工业计算机控制工程河北省重点实验室,河北秦皇岛066004

出　　处：《电机与控制学报》2023年第8期91-99,共9页Electric Machines and Control

基　　金：国家自然科学基金联合基金项目(U22A2050);河北省自然科学基金(F2022203043);省级重点实验室绩效补助经费项目(22567612H)。

摘　　要：针对电动变载荷加载系统中存在的强耦合、加载过程中的多余力干扰、电机内部的高度非线性化和时变性等问题,为提高电动变载荷加载系统的动态性能和控制效果,将分数阶PID控制器应用于电动变载荷加载系统中,该控制器较常规PID多了2个可调参数,能更灵活地控制受控对象,采用Oustaloup近似化方法对分数阶算子近似化处理,用改进惯性权重ω的粒子群优化算法对分数阶PID控制器参数进行整定优化。选取不同加载压力的输出波形对电动变载荷加载系统模拟仿真并在电动变载荷摩擦磨损试验平台上进行加载试验,通过实验数据求出加载过程中的摩擦力、摩擦系数和加载压力的跟踪曲线与误差曲线图,然后和常规PID对比。试验结果表明,分数阶PID控制器抗干扰性强、跟踪精确度高,有更好的控制效果。Aiming at the problems of the strong coupling in the electric loading system,the surplus force interference during loading,and the highly nonlinear and time-varying inside the motor,to improve the dynamic performance and control effect of the electric loading system,the fractional order PID controller is used in electric variable load loading system.The controller has two more adjustable parameters than the conventional PID,and have more flexible control of controlled objects.The Oustaloup approximation method was used to approximate the fractional order operator and the parameters of the fractional order PID controller were rectified and optimised using a particle swarm optimisation algorithm with improved inertia weights.Simulation of an electric variable load loading system with selected output waveforms for different loading pressures and loading tests on an electric variable load friction and wear test rig were conducted.Plot of the tracking curve and error curve of the friction force,coefficient of friction and loading pressure during loading were derived from experimental data,and then compared with conventional PID.The experimental results show that the fractional order PID controller is more resistant to disturbances,and has high tracking accuracy and good control effects.

关 键 词：电动变载荷加载系统 分数阶PID 近似化 粒子群优化 加载压力 输出波形 

分 类 号：TM921[电气工程—电力电子与电力传动]