基于改进自适应遗传算法的小径短绳自动打捆机步进电机PID控制  

PID control of stepper motor of small diameter short rope automatic strapping machine based on improved adaptive genetic algorithm

作　　者：代健超 孟婥[1] 孙志军[1] 杜诚杰 DAI Jianchao;MENG Zhuo;SUN Zhijun;DU Chengjie(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

出　　处：《东华大学学报（自然科学版）》2024年第1期63-69,共7页Journal of Donghua University(Natural Science)

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

摘　　要：为提高小径短绳自动打捆机步进电机的控制精度,在分析经典遗传算法和经典自适应遗传算法的基础上,引入进化代数和个体适应值排名来指导自适应交叉率和自适应变异率,设计了一个基于改进自适应遗传算法的PID控制器,以削弱进化过程中优良参数的退化现象。MATLAB仿真结果表明,改进的自适应遗传PID提高了收敛精度,并具有更快的收敛速度。针对步进电机的实际测试结果表明,与经典遗传算法相比,改进的自适应遗传PID调整时间更短、超调量更低。In order t Based on the analysis of the classic genetic algorithm and the classic adaptive genetic algorithm,we introduced evolutionary algebra and individual fitness value ranking to guide the adaptive crossover rate and adaptive mutation rate,to improve the control accuracy of the bundling motor of the small diameter short rope automatic strapping machine.A PID controller based on an improved adaptive genetic algorithm is designed to weaken the degradation of excellent parameters in the evolution process.The MATLAB simulation shows that the improved adaptive genetic PID improves the convergence accuracy and faster convergence speed.The actual test of the results on stepper motors compared with the classical genetic algorithm has shorter adjustment time and lower overshoot show that the improved adaptive genetic PID has shorter tuning time and lower overshooting compared to the classical genetic algorithm.

关 键 词：改进自适应遗传算法 小径短绳 自动打捆机 步进电机PID控制 绳缆包装 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置] TM383.6[自动化与计算机技术—控制科学与工程]