摘要
利用前馈控制与传统的反馈控制相结合来控制位置伺服系统,由实时遗传算法在线调整前馈控制器参数,使其为对象的逆模型。用实际输出和设定值之间的跟踪误差计算个体的适应度,突变操作的范围也由跟踪误差确定,以保证参数的收敛。实验结果证明实时遗传算法的嵌入使得系统在跟踪。
The positioning servo system is controlled by a conventional feedback controller and a feedforward controller. The real time genetic algorithm is used to tune on line the parameters of the feedforward controller, the objective of which is to make the feedforward controller a inverse model of the plant. The tracking error between the desired output and the actual output is used to calculate the fitness of individuals. The range of mutation is dependent on the magnitude of the tracking error, which ensures parameter convergence. The experimental results demonstrate that tracking performance and disturbance rejection are greatly improved because of the incorporation with the real time genetic algorithm.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2000年第2期5-9,共5页
Proceedings of the CSEE
基金
国家"973"基金!项目(G1998020319)
武汉汽车工业大学科学研究基金
关键词
位置伺服系统
遗传算法
前馈控制器
real time genetic algorithm
feedforward controller
positioning servo system
inverse model
