摘要
针对传统自抗扰控制(ADRC)在多轴伺服系统同步控制中参数繁多、整定复杂,且因负载扰动与系统耦合导致同步精度下降的问题,提出一种基于改进线性自抗扰控制(LADRC)与遗传算法(GA)参数优化的同步控制策略。通过简化传统ADRC结构,设计改进型LADRC控制器,减少待整定参数数量;引入遗传算法对控制器关键参数进行全局优化,提高参数整定效率与系统控制性能;采用主从同步控制架构,结合扩张状态观测器实时估计并补偿负载扰动与轴间耦合干扰。
In order to solve the problems of traditional ADRC(Active Disturbance Rejection Control)in the synchronous control of multi-axis servo system,which has many parameters and complex tuning,and the synchronization accuracy decreases due to the coupling between load disturbance and system,a synchronous control strategy based on improved linear active Disturbance rejection control(LADRC)and genetic algorithm(GA)parameter optimization was proposed.By simplifying the traditional ADRC structure,an improved LADRC controller is designed to reduce the number of parameters to be set.Genetic algorithm is introduced to optimize the key parameters of the controller globally to improve the efficiency of parameter tuning and system control performance.The master-slave synchronous control architecture is adopted,and the extended state observer is used to estimate and compensate the load disturbance and the coupling interference between axes in real time.
作者
吴航
WU Hang(College of Artificial Intelligence,Shenyang Normal University,Shenyang 110000,China)
关键词
多轴伺服系统
同步控制
改进线性自抗扰控制
遗传算法
参数优化
multi-axis servo system
synchronous control
improved linear active disturbance rejection control
GA
parameter optimization
