基于遗传算法的电动舵机系统模糊PID控制

Fuzzy PID Control of Electromechanical Actuator System Based on Genetic Algorithm

针对电动舵机系统模糊PID控制器中量化因子和比例因子的选取过于依赖经验、参数固定等缺点,利用遗传算法可全局寻优的能力,提出基于遗传算法的模糊PID控制方法。建立了电动舵机位置伺服系统模型,利用遗传算法对模糊PID控制器的量化因子和比例因子进行优化仿真。仿真结果表明,相较于模糊PID控制,优化后的模糊PID控制下的系统阶跃响应上升时间缩短了5.03%,稳态误差减少了1.22%,频率响应稳态最大幅值误差减少了34.82%,稳态最大相位误差降低了22.88%,明显改善了电动舵机的动稳态性能。

In view of the shortcomings of the selection of quantification factors and proportion factors in the fuzzy PID controller of the electromechanical actuator system,such as over dependence on experience and fixed parameters,a fuzzy PID control method based on genetic algorithm was proposed by using the global optimization ability of genetic algorithm.The model of the position servo system of the electromechanical actuator was established,and the genetic algorithm was utilized to optimize the quantitative and proportional factors of the controller.The simulation results show that compared with the fuzzy PID control system,the step response rise time of the optimized fuzzy PID control system is reduced by 5.03%and the steady-state error is reduced by 1.22%.The maximum amplitude error of frequency response is reduced by 34.82%,and the maximum phase error is reduced by 22.88%.It greatly improves the dynamic and static performance of electromechanical actuator.