摘要
针对3D舞台威亚系统自抗扰控制器(ADRC)参数多且难以整定的问题,将鸟群算法(BSA)引入其中对自抗扰控制器的参数进行了优化研究.首先根据自抗扰控制"抗扰范式"的思想,建立了3D舞台威亚系统单点吊机的"鱼骨+鱼刺"模型;接着结合3D舞台威亚的运行性能及ADRC的特质,分析确定了ADRC需优化整定的参数,并基于智能优化算法BSA对ADRC的参数进行了优化整定.仿真结果表明,BSA不仅能克服粒子群算法使ADRC参数易陷入局部最优的缺点,而且运算简单高效且易于实现,经BSA优化后的ADRC改善了3D舞台威亚单点吊机运行性能与鲁棒性,为威亚的同步控制提供了保障.
Aimed at the problems in 3-D stage wire system with active disturbance rejection controller(ADRC)such as a large number of its parameters and the difficulty of their setting,the bird swarm algorithm(BSA)is introduced to carry out the optimization study of the parameters of ADRC.First,according to the thought of “immunity paradigm” for immunity control,a “fishbone plus bones” model is established for the 3-D stage wire system with single-point crane.Then,according to the operation performance of 3-D stage wire system and the peculiarity of ADRC,its parameters that need to be optimized and set are analyzed and determined and based on intelligent optimization algorithm BSA,the optimized setting of ADRC parameters is conducted.Simulation result shows that BSA can not only overcome the defect in particle swarm algorithm that the ADRC parameter is easy to be made into local optimum,but will also make the calculation simple,high-efficient and easy to be implemented.The BSA-optimized ADRC will improve the operational performance and robustness of 3-D stage wire system with single-point crane and provide a guarantee for synchronized control of 3-D wire system.
作者
李炜
万国北
葛振福
龚建兴
LI Wei;WAN Guo-bei;GE Zhen-fu;GONG Jian-xing(College of Electrical Engineering and Information Engineering,Lanzhou Univ. of Tech.,Lanzhou 730050,China;Key Laboratory of Gansu Advanced Control for Industrial Processes,Lanzhou Univ. of Tech.,Lanzhou 730050,China;National Experimental Teaching Center of Electrical and Control Engineering,Lanzhou Univ. of Tech.,Lanzhou 730050,China)
出处
《兰州理工大学学报》
CAS
北大核心
2019年第1期78-84,共7页
Journal of Lanzhou University of Technology
基金
国家自然科学基金(61364011)
关键词
3D舞台威亚
自抗扰控制器
鸟群算法
参数优化
3-D stage wire
active disturbance rejection controller
bird swarm algorithm
parameter optimization
作者简介
李炜(1963-),女,陕西西安人,教授,博导.
