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舵机永磁无刷直流电机控制器参数离线整定

, PP. 281-287

Keywords: 遗传算法,神经网络,无刷直流电机,电动舵机,优化

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Abstract:

针对电动舵机伺服系统控制参数较难整定问题,提出一种基于神经网络和遗传算法极值寻优的PI控制器参数离线整定方法。采用电机舵机伺服系统的实验数据训练BP神经网络,并选择预测精度最高的神经网络模型的输出作为遗传算法的优化目标函数的输入,采用遗传算法快速搜索,得到使舵机伺服系统的动态响应性能最好的PI控制器参数组合。并在基于无刷直流电机驱动的电动舵机平台上进行实验,结果表明采用优化后的PI控制参数,舵机系统能够快速、平稳而又准确地跟踪输入指令变化,抗干扰能力强。

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