基于多策略改进的SMC-GTO电机速度跟踪控制  

SCM-GTO motor speed tracking control based on multi-strategy enhancement

作　　者：岳凡[1] 艾尔肯·亥木都拉 郑威强 YUE Fan;AIERKEN·Hamudula;ZHENG Weiqiang(College of Mechanical Engineering,Xinjiang University,Urumqi 830017,China)

机构地区：[1]新疆大学智能制造现代产业学院,新疆乌鲁木齐830017

出　　处：《现代电子技术》2024年第16期69-75,共7页Modern Electronics Technique

基　　金：国家自然科学基金项目:面向新疆沙漠多风向的曲线沙障阻沙机理及性能研究(52265039)。

摘　　要：针对传统控制算法在农业机器人驱动电机速度控制方面存在的响应时间长、跟踪效果差以及参数整定难度大,导致驱动电机转速难以在短时间内收敛至预期值的问题,提出一种基于多策略改进的SMC-GTO电机速度跟踪控制算法。首先,为了缩短驱动电机速度响应时间,提高速度跟踪效果,设计了一种新型趋近率的改进滑模控制器(I-SMC);其次,为了快速整定滑模控制器参数,引入了多策略改进的大猩猩部队优化算法(MIGTO)。仿真结果表明:I-SMC能够将电机运行过程中的动态误差累计与过冲控制在0 rad/s内,并且可以在0.4 s内响应至预定速度。MIGTO算法在开发和探索阶段均展现出卓越的性能,尤其在整定基于新型趋近率的改进滑模控制器参数工作中表现突出。该研究通过引入I-SMC和MIGTO算法,成功改进了驱动电机速度控制方式,有效缩短了响应时间,提升了速度跟踪效果。In allusion to the problems of long response time,poor tracking effect,and difficult parameter tuning in traditional control algorithms for agricultural robot drive motor speed control,which make it difficult for the drive motor speed to converge to the expected value in a short time,a SMC-GTO motor speed tracking control algorithm based on multi-strategy enhancement is proposed.In order to shorten motor speed response time and enhance tracking effect,an improved sliding mode controller(I-SMC)with a novel approach rate is proposed.In order to realize the swift parameter tuning of the sliding mode controller,a multi-strategy improved gorilla troop optimization(MIGTO)algorithm is introduced.The simulation results reveal that the I-SMC can effectively constrain cumulative dynamic errors and overshooting within 0 rad/s during motor operation,achieving a response to the set speed within 0.4 s.The MIGTO algorithm can demonstrate exceptional performance in both development and exploration stages,particularly excelling in tuning parameters for the improved sliding mode controller with the novel approach rate.This study can successfully improve the speed control mode of the drive motor by introducing I-SMC and MIGTO algorithm,effectively shortening response time and improving speed tracking effect.

关 键 词：SMC-GTO 多策略改进 速度跟踪 农业机器人 驱动电机 参数整定 

分 类 号：TN820.4-34[电子电信—信息与通信工程] TP391.9[自动化与计算机技术—计算机应用技术] TP273[自动化与计算机技术—计算机科学与技术]