摘要
电机调速是智能车运动控制的关键技术。以小车竞赛用驱动电机RS380为被控对象,通过机制分析建立其动态数学模型。采用PID控制算法构建基础反馈控制结构,并引入CUCKOO智能搜索算法,借助其长、短距离兼顾的搜索优势整定比例和积分控制参数,减少经验依赖程度,提高参数优化效果。参数寻优中,系统性能指标采用ITAE误差为目标函数,经30次迭代完成控制参数的优化搜索。仿真结果表明:被控电机能够在5 ms内快速跟踪800 r/min的目标转速,在受到小幅干扰时,能在2 ms内完成抗干扰运行。所得方案对直流电机调速系统的控制参数整定具有借鉴意义。
The key technology of intelligent vehicle motion control is motor speed control.Taking the driving motor RS380 for car competition as the controlled object,the dynamic mathematical model is established by mechanism analysis method.PID control algorithm is used to construct the basic feedback control structure,and CUCKOO intelligent search algorithm is introduced.With its long-distance and short-distance search advantages,the proportional and integral control parameters are set to reduce the experience dependence and improve the parameter optimization effect.In parameter optimization,the ITAE error is used as the objective function,and the optimization of control parameters is completed by 30 iterations.The simulation results show that the controlled motor can quickly track the target speed of 800 r/min in 5 ms,and can complete the anti-interference operation in 2 ms when it is subject to small interference.The scheme can be used for reference in the control parameter tuning of DC motor speed regulation system.
作者
薛鹏
任鹏飞
张鹤羽
王允琦
XUE Peng;REN Pengfei;ZHANG Heyu;WANG Yunqi(College of Electrical Information Engineering, Henan University of Engineering, Zhengzhou 451191, China)
出处
《河南工程学院学报（自然科学版）》
2021年第3期50-53,80,共5页
Journal of Henan University of Engineering：Natural Science Edition
基金
河南省高等学校重点科研项目(21B413001)。
关键词
布谷鸟算法
电机调速
参数整定
搜索模式
CUCKOO algorithm
motor speed regulation
parameter tuning
search mode
