基于免疫遗传算法的伺服电机自抗扰控制器参数整定方法  

Parameter Tuning Method of Servo Motor Active DisturBance Rejection Controller Based on Immune Genetic Algorithm

作　　者：袁孟超 吴辉[1] 司晨 YUAN Mengchao;WU Hui;SI Chen(Southwest Institute of Technical Physics,Chengdu,Sichuan 610041,China)

机构地区：[1]西南技术物理研究所,四川成都610041

出　　处：《自动化应用》2024年第12期227-231,234,共6页Automation Application

摘　　要：针对永磁同步伺服电机自抗扰控制器存在参数整定问题,试凑法及其他算法存在整定过程复杂、整定结果局部最优等问题,采用一种免疫算法和遗传算法融合的永磁同步伺服电机自抗扰控制器参数整定方法。该融合方法将免疫算法的免疫信息处理机制加入遗传算法中,解决了遗传算法陷入局部最优的问题,使自抗扰控制器参数较快达到全局最优。MATLAB仿真结果显示,该方法提高了自抗扰控制器的响应速度及抗干扰能力,同时减小了约5.6%的跟踪误差,适用于伺服电机自抗扰控制器多参数整定。For the parameter tuning problem of permanent magnet synchronous servo motor active disturbance rejection controller(ADRC),the trial-and-error method and other optimization algorithms have the problems of complicated tuning process and local optimal results.The adopted method for tuning the parameters of the controller for a permanent magnet synchronous servo motor involves a fusion of immune algorithm and genetic algorithm.The integrated approach incorporates the immune information processing mechanism of the immune algorithm into the genetic algorithm,addressing the issue of the genetic algorithm getting trapped in local optima.This enables the rapid achievement of the parameters tuning goal for the controller.The MATLAB simulation results indicate that this method enhances the response speed and disturbance rejection capability of the controller,Additionally,it reduces tracking error by approximately 5.6%.The approach is applicable for the multi-parameter tuning of the ADRC in servo motor systems.

关 键 词：伺服系统 自抗扰控制 免疫遗传融合算法 参数整定 

分 类 号：TM383.4[电气工程—电机] TP273[自动化与计算机技术—检测技术与自动化装置]