摘要
直流无刷电机是一种非线性、涉及多种变量以及强耦合的复杂系统,传统的基于线性控制的PI、PID控制器无法满足精确控制的要求.为提高控制性能,提出一种基于NSGA-Ⅱ优化PID参数控制直流无刷电机速度环的方法.NSGA-Ⅱ算法将速度超调量和ITAE法则相结合构造第一目标适应度函数;将速度调节时间和ITAE法则相结合,构造第二目标适应度函数.利用快速非支配排序和拥挤距离排序使种群个体收敛到最终的Pareto前沿,得到最优的PID参数.根据无刷直流电机的数学模型和运行特性搭建控制仿真模型,检验算法的控制效果,并与传统PI、PID算法的控制效果进行对比.结果表明:基于NSGA-Ⅱ算法优化PID参数的直流无刷电机控制具有较好的鲁棒性,响应速度快,几乎无超调量.
Brushless direct current motor is a complex system that is nonlinear,involves multiple variables,and exhibits strong coupling,and traditional linear-based control methods such as PI and PID controllers can not meet the requirements for its precise control.In order to improve control performance,a method is proposed and designed to control the speed loop of brushless direct current motor based on NSGA-Ⅱoptimized PID parame-ters.NSGA-Ⅱalgorithm combines the overshoot and Integral Time Absolute Error(ITAE)rule to construct the first objective fitness function,and combines the speed adjustment time and ITAE rule to construct the second objective fitness function.The use of fast non-dominated sorting and crowding distance sorting allows the population individuals to converge to the final Pareto front and obtain the optimal PID parameters.A control simulation model is built based on the mathematical model and operating characteristics of brushless direct current motor to verify the control effect of the algorithm,and comparing with the control effect of traditional PI and PID algorithms.The results show that the control of brushless direct current motor based on NSGA-Ⅱalgorithm optimized PID parameters has good robustness,fast response speed and almost no overshoot.
作者
张学锋
万爽
樊旭
刘恩赐
方炜
ZHANG Xuefeng;WAN Shuang;FAN Xu;LIU Enci;FANG Wei(Anhui University of Technology,Anhui Province Key Laboratory of Special Heavy Duty Robot,Ma’anshan 243032,China)
出处
《北华大学学报（自然科学版）》
CAS
2023年第5期657-663,共7页
Journal of Beihua University（Natural Science）
基金
特种重载机器人安徽省重点实验室开放课题(TZJQR007-2023)
安徽高校自然科学研究项目(2022AH050290)。
