基于改进ITAE函数的直流伺服系统控制器优化

Design of controller optimization for DC servo system based on improved ITAE function

直流伺服电动机广泛应用于高精控制设备中.传统PI控制参数整定方法对对象模型的依赖程度较高,为了实现电动机转速对给定输入的准确快速跟踪,采用ITAE评价函数迭代整定控制参数.在评价函数中增加超调指标,有效降低了电机转速输出的超调量;引入粒子群算法基于改良评价函数完成控制参数的优化搜索,缩短了优化时间,提高了整定效率.将所提方案与传统的Z-N整定和迭代ITAE整定方案进行了对比,结果表明所提优化控制方案能使直流伺服调速系统具有良好的动静态性能和较强的抗扰鲁棒性.

DC servo motor is widely used in high precision control equipments. Traditional PI parameter tuning method is difficult to avoid the problem of model dependency. In order to quickly and accurately track the given speed, the integral of time-weighted abso-lute value of the error （ shortly, ITAE） was taken as the punishment function in control parameter tuning. Overshoot of the motor speed output was effectively reduced for the sake of using overshoot item in ITAE function. Particle swarm optimization （PSO） algorithm was also adopted to shorten the time of optimization to improve searching effect. Comparing with tradition Z-N tuning and origin ITAE tuning, simulation and experimental results show that the DC speed control system has good staticdynamic performance with improved control parameters and better robust to load change.