基于粒子群算法的电液执行机构控制器参数优化方法研究

Research on parameter optimization method of electro-hydraulic actuator controller based on particle swarm algorithm

针对电液执行机构系统及其滑模控制系统存在非线性、不确定性和震颤等问题,提出一种基于粒子群算法的电液执行机构控制器参数优化技术,采用粒子群优化算法对传统的滑模变结构控制变量在具有外界干扰的条件下进行实时优化,从而使电液执行机构系统产生精确运动。首先,对电液执行机构系统建模,得出系统状态方程,然后分析传统滑模控制器,将粒子群优化算法引入滑模控制器中,对滑模控制器中的切换控制项进行实时优化,在具有外界干扰时优化出最佳滑模变量,从而保证电液执行机构系统能对输入信号产生精确的位置追踪。利用MATLAB/Simulink模块建立滑模控制器系统模型并进行仿真,仿真结果显示,在具有干扰条件下,提出的控制器可以使滑模变量快速收敛,实现对目标曲线进行快速精确的位置追踪,大大提高系统的鲁棒性,从而证明了所提方法的有效性和科学性。

In order to solve the problems of nonlinear,uncertain and chattering in electro-hydraulic actuator system(EHA),a particle swarm optimization(PSO)algorithm was proposed to optimize the parameters of the EHA controller,the traditional sliding mode control(SMC)variables were optimized by PSO algorithm in real time under the condition of external interference,so as to make the EHA system produce accurate mo⁃tion.Firstly,the EHA was modeled,the system state equation was obtained,then the traditional SMC was in⁃troduced,the PSO algorithm was introduced into the SMC to optimize its switching control in real time,the optimal SMC variable was optimized in case of external interference,so as to ensure that the EHA system could produce accurate position tracking in the light of the input signal.The system model of sliding mode controller was established and simulated by using Simulink module of MATLAB.the simulation results showed that the proposed controller could make the sliding mode variables converge quickly under the con⁃dition of disturbance,and could realize the fast and accurate position tracking of the target curve,which greatly improved the robustness of the system,thus the results showed that the proposed control scheme was effective and scientific.