【摘要】 针对直驱式电液伺服转叶舵机转动惯量大、时变不确定性和外负载复杂的特点,提出一种以最大最小蚂蚁算法和模拟退火策略为基础的具有不完全微分的PD控制器的设计方法。该控制器能在线搜索出一组最优PD控制参数Kp*和Kd*作为直驱式电液伺服转叶舵机实时控制中的PD控制器参数。在直驱式电液伺服转叶舵机及加载实验台上进行了阶跃响应和斜坡响应实验。实验结果表明,与传统PD控制器相比,基于退火蚂蚁群算法的PD控制器具有良好的动态性能和鲁棒性,能有效地提高直驱式电液伺服转叶舵机的控制精确度。更多还原

【Abstract】 A new designing method for the optimal PD controller with incomplete derivation is proposed based on Max-Min ant optimization and simulated annealing for direct drive electro-hydraulic(DDEH) servo rotary vane steering gear,which suffers from high rotary inertia,severs time-varying uncertainty and external disturbance load.In this method,a group of optimal PD parameters Kp and Kd were obtained,which were used as the parameters of the PD controller in real-time control for DDEH servo rotary vane steering gear.Experimental results of step response experiments and ramp response experiments demonstrate that this kind of PD controller is better than the conventional PD controllers in the dynamic behavior of system response the tracking error is decreased,and the system′s robustness is enhanced.更多还原