基于差分进化的伺服电机自抗扰控制

Active disturbance rejection control of servo motor based on differential evolution

摘要:

在对伺服电机实际控制中，存在外部未知干扰导致被控对象模型不准确，考虑电机运行过程中的摩擦模型，提出一种基于差分进化的伺服电机自抗扰控制技术，得到改进后的自抗扰控制框图。通过对自抗扰控制中参数的动态整定，对比了基于差分进化算法（DE-ADRC）、自抗扰控制算法（DERC）、PID算法的跟踪误差，结果显示DE-ADRC算法具有明显优势，较ADRC算法、PID算法，跟踪误差分别降低了54%和49%。为了证明DE-ADRC算法的鲁棒性，利用蒙特卡罗统计学算法对控制对象进行仿真，以超调量、调节时间和误差绝对值积分为控制性能评估指标，仿真结果显示相比较于其他两种算法，提出的DE-ADRC算法具有较强的鲁棒性和系统抗干扰能力，对伺服电机在实际工程中的应用提供了基础。

Abstract:

In the actual control of the servo motor, there is an unknown external interference that causes the controlled object model to be inaccurate. At the same time, considering the friction model during the click operation, a servo motor auto-disturbance rejection control technology based on differential evolution is proposed, which has been improved Active disturbance rejection control, through the dynamic adjustment of the parameters kp and kd in the active disturbance rejection control, the tracking errors based on the differential evolution algorithm (DE-ADRC), the active disturbance rejection control algorithm (DERC), and the PID algorithm are compared. -ADRC algorithm has obvious advantages. Compared with ADRC algorithm and PID algorithm, the tracking error is reduced by 54% and 49% respectively. In order to prove the robustness of the DE-ADRC algorithm, the Monte Carlo statistical algorithm is used to simulate the control object, and the overshoot, adjustment time and IAE are used as evaluation indicators. The simulation results show that compared with the other two algorithms, the proposed algorithm The DE-ADRC algorithm has strong robustness and system anti-interference ability, which provides a foundation for the application of servo motors in actual engineering.