改进GA整定滑模参数的直流电机控制研究  

Research on DC Motor Control with Improved GA Tuned Sliding Mode Parameters

作　　者：李鹤年 王海[1,2] 杨春来 刘永明[1,2] 陆益敏 王雷 徐曼曼 桂劲松[3] 谭铁龙 王向东 LI Henian;WANG Hai;YANG Chunlai;LIU Yongming;LU Yimin;WANG Lei;XU Manman;GUI Jingsong;TAN Tielong;WANG Xiangdong(School of Mechanical Engineering,Anhui Polytechnic University,Wuhu 241000,Anhui,China;Anhui Provincial Key Laboratory of Advanced CNC and Servo Drive,Wuhu 241000,Anhui,China;Wuhu Ruilong Robot Technology Co.,Ltd.,Wuhu 241060,Anhui,China;Wuhu Kepu Intelligent Equipment Co.,Ltd.,Wuhu 241060,Anhui,China;Wuhu Magnetic Wheel Transmission Technology Co.,Ltd.,Wuhu 241007,Anhui,China)

机构地区：[1]安徽工程大学机械工程学院,安徽芜湖241000 [2]先进数控和伺服驱动安徽省重点实验室,安徽芜湖241000 [3]芜湖锐龙机器人科技有限公司,安徽芜湖241060 [4]芜湖柯埔智能装备有限公司,安徽芜湖241060 [5]芜湖磁轮传动技术有限公司,安徽芜湖241007

出　　处：《机械科学与技术》2024年第11期1865-1876,共12页Mechanical Science and Technology for Aerospace Engineering

基　　金：高校优秀青年骨干人才国内外访学研修项目(gxgwfx2021035);特种显示与成像技术安徽省技术创新中心开放性课题项目(2020AJ06001);安徽工程大学-鸠江区产业协同创新专项(2022cyxtb4,2022cyxtb6,2022cyxtb8)。

摘　　要：在转速环控制器采用传统的滑模控制(Sliding mode control,SMC)方法的直流电机双闭环控制系统中,常因滑模参数难以整定导致直流电机控制效果不佳。针对该问题,提出了一种基于改进遗传算法(Improved genetic algorithm,IGA)整定滑模参数的方法。首先,建立出直流电机双闭环控制系统转速环各环节传递函数,通过IGA联合转速环MATLAB/Simulink仿真模型整定出滑模参数的最优值。最后,对采用该最优值的滑模速度控制器与传统的PID、普通的滑模速度控制器和普通GA整定的滑模速度控制器进行仿真比较分析,并基于dSPACE 1202半实物仿真平台搭建了直流电机双闭环控制硬件在环实验平台,进行了实验验证。仿真和实验结果均表明经IGA整定的滑模速度控制器可使直流电机双闭环控制系统具有无超调、响应快速和强鲁棒性的优点,证明了该方法能够有效解决滑模速度控制器参数整定问题。In a DC motor's double closed-loop control system with the traditional sliding mode control(SMC)method for the speed loop controller,the sliding mode parameters are often difficult to be tuned,resulting in the poor control of the DC motor.To solve the problem,a method based on the improved genetic algorithm(IGA)is proposed to tune the sliding mode parameters.Firstly,the transfer functions of the speed loop of the DC motor's double closed-loop control system are established,and the optimal values of the sliding mode parameters are tuned with the IGA-combined speed loop MATLAB/Simulink simulation model.Finally,the sliding mode speed controller with the optimal values is simulated and compared with the conventional PID common sliding mode speed controller and the common GA-tuned sliding mode speed controller.The hardware-in-the-loop experimental platform for the DC motor's double closed-loop control is built based on the dSPACE 1202 semi-physical simulation platform for verification.The simulation results show that the IGA-tuned sliding mode speed controller can make the DC motor's double closed-loop control system have the advantages of no overshoot,fast response and strong robustness,proving that the method can effectively solve the parameter tuning problem of the sliding mode speed controller.

关 键 词：直流电机 滑模控制 改进遗传算法 参数整定 dSPACE 1202 硬件在环 

分 类 号：TM33[电气工程—电机]