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首页> 外文期刊>International Journal of Innovative Computing Information and Control >ADAPTIVE PSO-BASED SELF-TUNING PID CONTROLLER FOR ULTRASONIC MOTOR
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ADAPTIVE PSO-BASED SELF-TUNING PID CONTROLLER FOR ULTRASONIC MOTOR

机译：基于自适应PSO的超声波电机自整定PID控制器

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摘要

An adaptive particle swarm optimization based proportional-integral-derivative (APSO-PID) controller is proposed to control an ultrasonic motor (USM). Since the dynamic characteristic of the USM is difficult to obtain and the motor parameters are time varying, the APSO algorithm is applied to automatically tune the gains of PID controller without using any plant model of the USM. In the proposed method, an inertia weight of PSO is adaptively adjusted based on the swarm condition. The personal and the global best position of particles is taken and used to calculate the inertia weight during the searching process by using feedback mechanism. The aim of this study is to present an optimal self-tuning PID controller using APSO for compensating the dynamic characteristic changes and nonlinearity of USM. To demonstrate the performance of the APSO-PID controller, it is tested on USM servo system and compared with the previous methods. Results show that the performance of the proposed method is satisfactory in term of convergence speed and position accuracy of USM.
机译：提出了一种基于自适应粒子群算法的比例积分微分（APSO-PID）控制器来控制超声电机（USM）。由于难以获得USM的动态特性并且电机参数随时间变化，因此应用APSO算法来自动调整PID控制器的增益，而无需使用USM的任何工厂模型。在提出的方法中，基于群条件自适应地调整PSO的惯性权重。在搜索过程中，通过使用反馈机制来获取粒子的个人和全局最佳位置，并用于计算惯性权重。这项研究的目的是提出一种使用APSO补偿自电势的动态特性变化和非线性的最优自整定PID控制器。为了演示APSO-PID控制器的性能，已在USM伺服系统上对其进行了测试并与以前的方法进行了比较。结果表明，该方法在收敛速度和USM定位精度方面均令人满意。

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