交流伺服系统分数阶PID改进型自抗扰控制

针对采用永磁同步电机驱动的火箭炮交流伺服系统存在摩擦、惯性力矩、变负载及不同工况下内外扰动等复杂非线性问题,考虑到自抗扰控制(ADRC)抗内外干扰能力强和分数阶PID控制动态性能好，设计了一种分数阶PID改进型自抗扰控制器(FOPID-IADRC)。为了取得良好的动态性能和减少参数计算量，采用分数阶PID控制器取代非线性状态误差反馈器；引入粒子群优化算法，对FOPID控制器的5个控制参数进行实时在线自整定。仿真和半实物台架实验结果表明：该控制策略能够有效抑制位置扰动，具有良好的动态性能和较强的抗干扰能力。

FOPID Improved ADRC in AC Servo Systems

Aiming at the complicated nonlinear problems such as frictions,moments of inertia,variable loads and internal and external disturbances under different working conditions in AC servo systems of rocket launchers driven by PMSM, considering the strong internal and external interference resistances of ADRC and the excellent dynamic performance characteristics of FOPID control,an improved auto disturbance rejection controller optimized by FOPID controller(FOPID-IADRC) was designed herein.In order to achieve good dynamic performances and reduce the parameters' calculations,the non-linear state error feedback was substituted by FOPID controller.PSO algorithm was adopted to realize real-time self-tune of 5 parameters of FOPID controller.The simulation and semi-physical bench test results show that the control strategy may effectively resist position disturbances,and has good dynamic performances and strong anti-interference ability.