机电工程技术2025，Vol.54Issue(5)：80-86,7.DOI:10.3969/j.issn.1009-9492.2024.00125
基于遗传果蝇混合算法的双无刷直流伺服电机控制优化研究
Research on Optimization of Dual Brushless DC Servo Motor Control Based on Genetic Fruit-fly Hybrid Algorithm
摘要
Abstract
To address the low precision,slow response speed,and poor robustness of the dual brushless DC servo motor control system in robotic joint control applications,A PI parameter optimization method is proposed using a hybrid genetic and fruit-fly optimization algorithm(GA-FOA)to improve the control precision,response speed,and robustness of the dual motor control system.A simulation model of the brushless DC servo motor with a three-loop control system is established,with CSPACE as the main controller to build the control system.The dual brushless DC servo motor control system is designed in conjunction with the host computer and Hall sensors.The PI controller parameters in the vector control of the brushless DC servo motor are optimized using the GA-FOA hybrid algorithm.Simulation results show that when optimizing the speed loop,the GA-FOA hybrid algorithm is 9.9 ms and 9.8 ms faster than the GA and FOA algorithms,respectively,and has smaller fluctuations and overshoot.When optimizing the current loop,the response time is 7.0 ms and 5.9 ms faster,with smaller fluctuations and more stability.When optimizing the position loop,the convergence is faster,with no overshoot,and the optimized motor model's trajectory tracking average errors at the hip and knee joints are 0.069 474°and 0.042 495°,respectively.In the dual motor single-wheel leg prototype experiment,the experimental spatial trajectory and theoretical spatial trajectory errors range is[0.28 mm,2.11 mm],with spatial trajectory agreement.The results indicate that the GA-FOA hybrid algorithm is significant for improving the motor's precision,response speed,and robustness in the dual motor single-leg prototype experiment.关键词
无刷直流伺服电机/三环PI控制/遗传混合算法/矢量控制/仿真建模Key words
brushless DC servo motor/three ring PI control/genetic hybrid algorithm/vector control/simulation modeling分类
动力与电气工程引用本文复制引用
杨洪涛,田杭州,金磊,姜西祥,秦鹏飞..基于遗传果蝇混合算法的双无刷直流伺服电机控制优化研究[J].机电工程技术,2025,54(5):80-86,7.基金项目
安徽省重点研究与开发计划项目(202004a07020046) （202004a07020046）
