基于人工蜂群的电机分数阶速度控制器的设计

Design of Motor Fractional Order Speed Controller Based on Artificial Bee Colony Algorithm

分数阶PIλ控制器相比于传统的PI控制器有着更好的控制性能,特别适合对动态性能要求较高的伺服系统,但分数阶控制器的参数整定困难,不易应用。在建立伺服电机分数阶PIλ速度控制系统模型和参数整定策略的基础上引入人工蜂群智能算法求解包含未知参数的非线性超越方程组,并根据标准的人工蜂群算法的不足,提出了一种优化搜索区域并增加最优位置引导的搜索算法,增强了蜂群的局部开发能力,提高了蜂群算法的收敛速度和精度。仿真和实际实验的结果验证了该方法的可行性。

The fractional order controller has better performance than the traditional controller,which is very suited for servo motor control system,however,it is very difficult to tune the parameters of fractional order controller and apply in practice. The artificial bee colony（ ABC） algorithm was adopted to optimize the solutions of nonlinear transcendental equations including the parameters based on building the servo motor speed control mathematical model and mapping the strategy of tuning parameter,and an improved ABC algorithm that optimize the region of search and add guidance of optimal position was proposed,which improves the ability of local exploitation,increases the speed and precision of convergence. Results of simulations and practical experiments verify the feasibility and practicability of the method.