基于改进自抗扰控制的电动伺服系统机械谐振抑制方法

doi:10.12305/j.issn.1001-506X.2024.01.35

Abstract

Abstract:

During missile launch and flight, the electric servo system is subjected to loads such as engine ignition, aerodynamic loods, and rudder impact. Increase of structural wear leads to the structural gaps in the system. It greatly reduces the transmission stiffness and aggravates the harm caused by resonance. This paper proposes an improved active disturbance rejection controller (ADRC) to improve the tracking performance of the electric servo system. First, the mechanism of mechanical resonance for the electric servo system is analyzed. Then, the linear ADRC is described and the method to select parameters is given by improved particle swarm optimization (PSO) algorithm. Furthermore, the feasibility of this controller is demonstrated through a simulation analysis. Finally, the experimental results of electric servo system indicate that the improved ADRC can improve stability and dynamic performance.

Key words: electric servo system, resonance, active disturbance rejection controller (ADRC), improved particle swarm optimization (PSO)

CLC Number:

V249.1

Yu MO, Xudong TANG. Research on mechanical resonance suppression of electric servo system based on an improved ADRC[J]. Systems Engineering and Electronics, 2023, 46(1): 309-317.

Figures/Tables 19

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函数名称	数学公式	理论最优解	搜索区域	迭代代数	收敛条件
Sphere	$f_1(x)=\sum\limits_{i=0}^D \boldsymbol{x}_i^2$	0	[-100, 100]	100	1.0e-4
Rastrigrin	$f_3(x)=\sum\limits_{i=0}^D\left[\boldsymbol{x}_i-10 \cos \left(2 {\rm{\mathsf{π}}} \boldsymbol{x}_i\right)+10\right]$	0	[-5.12, 5.12]	100	1.0e-4

函数	维数	平均迭代次数	平均最优适应值	最优适应值
改进 PSO	10	68	1.59e-07	8.17e-09
	20	183	3.13e-06	3.48e-07
	30	362	1.44e-05	2.61e-06
基本 PSO	10	70	7.35e-06	4.13e-10
	20	-	0.010 2	0.001 3
	30	-	0.036 8	0.014 6

函数	维数	平均迭代次数	平均最优适应值	最优适应值
改进 PSO	10	82.2	2.60e-06	0.00e+00
	20	200	3.27e-06	7.71e-08
	30	324	8.91e-05	3.07e-08
基本 PSO	10	105	4.50e-04	6.74e-10
	20	-	1.969 6	0.276 1
	30	-	7.969 1	1.939 9

分析项目	迭代0次	迭代50次
带宽/Hz	33	45.5
上升时间/ms	28.3	22
超调量/%	14.7	5.3
最大速度/((°)/s)	618	774

频率范围/Hz	过载或振幅
10~36	±0.75 mm
36~150	4 g
150~400	6 g
400~2 000	8 g

Research on mechanical resonance suppression of electric servo system based on an improved ADRC

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