行波超声电机的遗传算法变增益PI位置控制.pdfVIP

2009 7 Ju ly 2009 28 7 M echan ical Science andTechnology forAerospace Engineering Vo.l 28 No. 7 PI 1 2 2 贺红林 , 朱 华 , 赵淳生 1 2 ( , 330063; , 210016) : 通过超声电机( USM )的调速特性分析, 选定驱动频率为控制变 ; 设计了基于 CD4046的 伺服调频电路进行USM 驱动; 构建了U SM 的计算机测控系统; 引入了利用遗传算法优化器整定P I参数的 PI控制器进行 USM控制; 采用二值编码技术对PI参数进行染色体编码; 构建了以位置 偏差最小为目标的优化器适应度函数; 通过遗传操作对PI参数动态地进行优化, 进而实现了USM 的遗传算法PI控制实验表明: 在 USM 性能发生变化的条件下, 遗传算法PI控制能实现USM 快 速精确的位置控制, 位置偏差可控制在: 01~ + 009 :超声电机; 遗传算法; PI控制器; 位置控制 : TM3599 : A : 2009) Position Control of the Travelingwave UltrasonicM otorUsing a PI Controller with itsParameters Regulated by GeneticAlgorithms 1 2 2 H eH onglin, ZhuH ua, Zhao Chunsheng 1 ( College of Aeronautical and M echanical Engineering, NanchangH angkong University, Nanchang 330063; 2 Precise Driving Laboratory, NanjingUn iversity of Aeronautics andAstronautics, Nanjing 210016) Abstract: Based on the speed characteristic of the ultrasonicmotor(USM ), driving frequency is determ ined as the control variable of theU SM. A driving circuit used to regulate the driving frequency of theU SM was designed. A measuring and control system based on a m icrocomputer was established. A PI controller w ith genetic algorithms ( GA s) optmi izer to optmi ize the PI parameters is introduced into the system. Chromosome based on binary genes is employed to code the parametersof the PI controller. The fitness function of the GA soptmi izer ami ing atm inmi izing the position error of the USM is proposed.