摘要
为了降低混合磁悬浮系统悬浮控制中因参数时变和干扰等因素引起不确定性问题的影响,实现快速高精度控制,采用PFC和PID控制相结合的方法,建立了具有比例、积分、微分结构的PFC-PID优化模型,并采取对决策层个体施加具有Levy飞行特征的方法对灰狼优化算法进行了改进,克服了原算法因易陷入局部最优而导致搜索精度偏低的问题,将改进后的灰狼优化算法对PFC-PID进行参数整定。仿真结果表明:PFC控制在0.43s处达到稳态,稳态误差为0.0026,优化后的PFC-PID控制在0.27s处即可达到稳态,稳态误差为0.0003,响应速度变快,稳态误差降低,系统性能得到提升。
In order to reduce the influence of uncertainties caused by such factors as time-varying parameters and interference in the suspension control of hybrid magnetic levitation system and achieve fast and high-precision control, a PFC-PID optimization model with proportional, integral and differential structure was established by combining PFC and PID control. The method of applying Levy flight characteristics to individual decision-making layer was adopted to improve the Grey Wolf Optimizer, which can overcome the problem of low search accuracy caused by easily falling into local optimum. The improved Grey Wolf Optimizer was used to set the parameters of PFC-PID. The simulation results show that the PFC control reaches a steady state at 0.43 s with a steady state error of 0.0026, and the optimized PFC-PID control reaches a steady state at 0.27 s with a steady state error of 0.0003. Response speed is faster, steady state error is reduced, and system performance is improved.
作者
胡坤
刘洋
杨继杨
蒋浩
HU Kun;LIU Yang;YANG Ji-yang;JIANG Hao(State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines,Huainan Anhui 232001,China;School of Mechanical Engineering,Anhui University of Science and Technology,Huainan Anhui 232001,China;Institute of Electrical,Hangzhou Wahaha Group Co,Ltd,Hangzhou Zhejiang 310018,China)
出处
《计算机仿真》
北大核心
2020年第4期219-223,共5页
Computer Simulation
基金
国家自然科学基金面上项目(51874004)
国家自然科学基金项目(51904007)
安徽省自然科学基金(1908085QE227)。
关键词
混合磁悬浮系统
快速高精度控制
灰狼优化
Hybrid magnetic levitation system
Fast and high-precision control
Gray wolf optimizer(GWO)
作者简介
胡坤(1981-),男(汉族),安徽省淮南市人,教授,硕士研究生导师,主要研究领域为智能矿山技术与装备,磁悬浮与磁力传动技术,矿山机器人;刘洋(1995-),男(汉族),安徽人,硕士研究生,主要研究方向为磁悬浮系统控制;杨继杨(1979-),男(汉族),浙江人,杭州哇哈哈集团机电研究院工程师,主要研究方向为自动化设备设计;蒋浩(1997-),男(汉族),安徽人,硕士研究生,主要研究方向为磁悬浮技术。
