Parameter setting method for fractional order PI controller of servo motor

A servo motor and parameter tuning technology, applied to electric controllers, controllers with specific characteristics, etc.

Active Publication Date: 2016-04-20
SHANDONG UNIV OF SCI & TECH
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Problems solved by technology

At present, the commercial servo motor speed controller is basically based on P

Method used

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  • Parameter setting method for fractional order PI controller of servo motor
  • Parameter setting method for fractional order PI controller of servo motor
  • Parameter setting method for fractional order PI controller of servo motor

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Embodiment Construction

[0086] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0087] Such as figure 1 As shown, a parameter tuning method of a fractional-order PI controller for a servo motor includes the following steps:

[0088] Step 1 Establish three unknown parameters K with fractional order PI controller p 、K i and the transcendental equations of λ

[0089] The transfer function expression of the fractional order PI controller is:

[0090] Among them, K p and K i are the proportional term coefficient and the integral term coefficient of the fractional-order PI controller respectively; λ is the integral term index, and the value range of λ is [0~1];

[0091] According to the electrical parameters of the servo motor and the parameters of the current loop PI controller, a simplified mathematical model of the current loop in the servo motor speed control system is established, which embodies the mathematical rela...

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Abstract

The invention relates to the technical field of intelligent control and specifically relates to a parameter setting method for the fractional order PI controller of a servo motor. the parameter setting method comprises the steps of S1, establishing a transcendental equation system containing three unknown parameters Krho, Ki and lambda of a fractional order PI controller; 2, determining an optimal interval for the above three unknown parameters Krho, Ki and lambda based on the artificial bee colony algorithm; 3, determining a target function of an artificial bee colony and a fitness value calculation method; 4, searching the optimal values of the above three unknown parameters Krho, Ki and lambda based on the search strategy-improved artificial bee colony algorithm. According to the technical scheme of the invention, the requirements of a servo control system on the quick response performance and the high-precision trajectory tracking performance can be met.

Description

technical field [0001] The invention belongs to the technical field of intelligent control, and in particular relates to a parameter setting method of a fractional-order PI controller of a servo motor. Background technique [0002] Due to its own limitations, the traditional PID controller cannot meet the application requirements well in some applications that require fast response and high-precision trajectory tracking or control systems with strong nonlinearity and large time-delay. In the traditional PID controller, the fractional order calculus term is introduced to replace the integer order calculus term, forming a fractional order PID controller, which can effectively overcome the shortcomings of the traditional PID controller. The fractional-order PID controller adds the calculus order parameters λ and μ, which can describe the control process more accurately and is insensitive to parameter changes within a certain range. Its stability, dynamic characteristics and rob...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 黄梁松于清洋李玉霞张志献朱苏宁
Owner SHANDONG UNIV OF SCI & TECH
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