基于人群搜索算法的多伺服电机协同控制研究

Research on Multi-servomotor Synchronous Control Based on Seeker Optimization Algorithm

针对多伺服电机协同控制系统,以4台电机为控制对象,通过分析协同控制原理和特点,结合多电机协同控制系统参数时变、负载扰动等因素,与常规PID(proportion integration differentiation)相融合,设计了基于人群搜索算法的SOA_PID控制器,建立了SOA_PID控制器的控制结构,采用Matlab/Simulink搭建仿真试验平台,建立伺服电机仿真模型.系统仿真结果表明,基于人群搜索算法的SOA_PID控制器能有效地提高多伺服电机同步控制性能,收敛精度高,健壮性较好,抗扰动能力强,相对于常规PID控制,其能更好地实现多伺服电机的协同控制.

Accroding to the multi-servomotor synchronous control system and the multi-servomotor synchronous control system of parameter timevarying, load disturbance and other features, the proportion integration differentiation controller of seeker optimization algorithm with four motors is designed. And the structure of the SOA_PID controller is established by analyzing the principle and characteristics of synchronous control. The simulation platform and the servomotor simulation model are built in Matlab/Simulink. Simulation results show that the SOA_PID controller can effectively improve the multi-servomotor synchronous control performance, the algorithm has a good convergence precision, robust performance and anti-disturbance ability. Compared with conventional PID control, it can achieve the multi-servomotor synchronous control more effectively.