某交流伺服系统的免疫克隆粒子群优化自抗扰控制

针对采用永磁同步电机(permanent magnet synchronous motor,PMSM)驱动的某火箭炮位置交流伺服系统存在摩擦力矩、外界扰动等一系列复杂非线性问题,设计一种基于免疫克隆粒子群优化算法的自抗扰控制器(IPSO-ADRC).根据自抗扰控制(active disturbance rejection control,ADRC)抗干扰能力强和粒子群优化算法(particle swarm optimization,PSO)寻优能力强的特点,采用免疫克隆粒子群优化算法在线整定自抗扰控制器的重要参数;并将克隆选择算法(clonal selection algorithm,CSA)融入到粒子群算法中,维护群体种类的差异性,解决PSO算法的缺陷问题.仿真实验结果证明:该控制策略使系统的稳态性能更好,并能提升系统的动态品质.

Immune Clone Particle Swarm Optimization Active Disturbance Rejection Control of Certain Type AC Servo System

In order to solve a series of complex nonlinear problems such as friction torque and external disturbance of certain type rocket launcher position AC servo system driven by permanent magnet synchronous motor (PMSM), an active disturbance rejection controller based on immune clone particle swarm optimization algorithm was designed (IPSO-ADRC). According to the strong anti-interference ability of active disturbance rejection control (ADRC) and the strong optimization ability of particle swarm optimization (PSO) algorithm, the immune clone particle swarm optimization algorithm is used to adjust the important parameters of ADRC online. The clone selection algorithm (CSA) is integrated into the particle swarm optimization algorithm to maintain the difference of population types and solve the defects of the PSO algorithm. The simulation results show that the control strategy can improve the steady-state performance and dynamic quality of the system.