基于PSO-PID的电动位移装置伺服电机控制系统

Servo Position Control System of Motorized Translation Stage Based on PSO-PID

为了提高光学相位补偿器SBC-IR的控制精度,解决传统PID算法在自动控制过程中响应速度较慢、精度低等问题,更好地实现PID参数的智能整定与位置最优控制,采用粒子群算法(Particle Swarm Optimization,PSO)优化光学相位补偿器电动位移装置的直流伺服位置控制系统,实现对三环比例、积分和微分(Proportional Integral Derivative,PID)位置控制系统参数的自动寻优。首先,搭建电动位移装置的三环直流伺服控制系统模型,包括位置环、速度环和电流环;然后,采用PSO算法对位置环的PID参数进行寻优,得到kp、ki、kd三个参数的最优值,并对PSO算法优化直流伺服位置系统的控制效果与传统PID控制算法的控制效果进行对比。实验结果表明:采用PSO算法优化的电动位移装置三环伺服位置系统具有较好的控制性能,可以实现位置的高性能追踪,响应速度更快,并能在一定程度上提升电动位移装置的位移精度。

In order to improve the control accuracy of the servo position system of optical phase compensator SBC-IR,improve the response speed and accuracy of the traditional PID algorithm during the control process,and realize the intelligent tuning of PID parameters and optimal position control,the particle swarm optimization(PSO)was used to optimize the DC servo position control system of the motorized translation stage of optical phase compensator.In this way,the three-loop PID position system parameters were optimized automatically.Firstly,the three-loop DC servo control system model of the motorized translation stage was built including the position loop,the speed loop and the current loop.Secondly,the PSO was used to optimize the PID parameters of the position loop,the optimal values of kp,ki and kd were obtained.Besides,the DC servo position system performance of the PSO algorithm and the traditional PID algorithm are compared.The experimental results show that the three-ring servo position system of the motorized translation stage optimized by the PSO algorithm is able to improve the control performance including the high-performance tracking of the position,the fast response speed and the displacement accuracy of the motorized translation stage.