基于变步长迭代方法的伺服系统控制器参数自整定

摘要

For the problem of tuning the PI controller parameters time is too long for the servo system with fixed step two degree of freedom iteration method. A two degree of freedom iteration self-tuning method with variable step is studied. First the iterative initial value is calculated by the frequency domain method; Then, the two degree of freedom of the variable step is used for the self-tuning method. , introducing the step attenuation coefficient to make the iteration step decay in exponential form;Finally, the parameters of the PI controller are searched for the optimal value of a target function. The results show that the two degree of freedom iteration with variable step method is effective for the parameter self-tuning of the speed loop PI controller for the permanent magnetic servo system.%针对用固定步长二自由度迭代方法整定伺服系统PI控制器参数时间过长的问题,研究一种变步长二自由度迭代自整定方法. 首先通过频域法计算迭代初值;然后采用变步长的二自由度迭代自整定方法,其中引入步长衰减系数使迭代步长以指数形式衰减;最后搜寻某一目标函数最优值下的PI控制器参数.仿真结果表明,基于变步长的二自由度迭代方法用于永磁伺服系统的转速环PI控制器参数自整定是有效的.