An ultrasonic motor control method based on the immunity particle cluster algorithm

Abstract

The present invention discloses an ultrasonic motor control method based on the algorithm of immunity grain subgroup. The present invention provides an ultrasonic motor controller based on the algorithm of immunity grain subgroup on the basis of the receptor editing mechanism and vaccine inoculation model in the T and B cells of the immunity system. A common controller or a controller based on intelligent technology is established firstly, primary parameters are provided to the controller randomly to from primary particles; an optimization algorithm of particle group is applied to update; the evolvement of the structure of the controller is realized through increasing the operations of structure upgrowth and retrogression in the evolvement of particles; unlively cell receptors are differentiated and are performed receptor editing every certain algebra value; the optimized control result found by the particle group algorithm is output when a predetermined iterative precision is achieved. In the present invention that combining the advanced intelligent technology, a real time control is realized basically, and the control precision is improved, and the computing complexity is reduced. As a result, the full-automatic design of the controller is realized.

Description

technical field [0001] The invention relates to an ultrasonic motor control method based on immune particle swarm algorithm, in particular to an intelligent calculation and automatic control method, which belongs to the field of computer application and automatic control. Background technique [0002] Ultrasonic Motor (Ultrasonic Motor, USM) is one of the most representative drives developed in the 1980s. Its appearance partially meets the needs of spacecraft, artificial satellites, aircraft, missiles, automobiles, robots, precision instruments, etc. Short, small, thin, low noise, no electromagnetic interference, and strong adaptability in harsh environments are required for driving equipment. Compared with traditional motors, ultrasonic motors have the characteristics of simple structure, fast response, large torque / mass ratio, no gear reduction mechanism, direct drive, and anti-electromagnetic interference. The emergence of ultrasonic motors can not only replace ordinary ...

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Problems solved by technology

[0003] Ultrasonic motors are different from traditional electromagnetic motors. As the driving conditions change, they exhibit extremely strong nonlinear characteristics. It is very difficult to establish an accurate mathematical model for it. Therefore, it is difficult to accurately and quickly control it using traditional methods.

Although some progress has been made in the control of ultrasonic motors by using some intelligent technologies, there are still many problems in practical applications such as the difficulty in selecting the structure of the controller, the difficulty in determining the dimension of the parameters, poor real-time performance, and low control accuracy.

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