位置随动系统对响应速度、定位精度、抗扰动性能等要求越来越高,整数阶PID 控制实现容易,但性能有限,很难满足高要求。分数阶PID(FOPID)控制由于引入了积分和微分两个阶次参数,可控参数更多更灵活。文中针对位置随动系统引入分数阶PI 控制,首先,利用分数阶微积分的数值计算方法(irid_fod 法)给出了差分方程;然后,在MATLAB 环境下利用粒子群寻优算法,分别整定随动系统整数阶PI 及分数阶PI 最佳控制参数;接着,进行了定位控制及抗扰动性能的仿真与实物试验。结果表明:位置随动系统中,分数阶PI 控制较整数阶PI 控制定位快、抗扰动性能强,具有一定的工程应用价值。

With the increasing requirements of servo system on response speed, positioning accuracy and anti-disturbance performance, integer order PID control is easy to implement, but its performance is limited and it's hard to meet the high requirements. Fractional order PID control is more flexible due to the introduction of integral and differential order parameters. In this paper, fractional order PI control is used in position servo system. First, the difference equation is given based on the numerical method of fractional calculus (irid_fod) method. Then, optimal control parameters of integer order PI and fractional order PI are tuned respectively by using PSO algorithm in MATLAB. After that, the simulation and experiments of positioning control and anti-disturbance performance are carried out. The results show that the fractional order PI control has the advantages of faster positioning and stronger anti-disturbance performance if compared with integer order PI, so it has a certain application value in engineering.

TP273

江苏省科技厅前瞻性项目(BY2016008-07)南京工程学院科研基金资助项目(CKJA201804)