许孝卓, 付惠琪, 刘株利,等.初级永磁式直线电机的粒子群优化PID控制研究[J].河南理工大学学报（自然科学版）,2020,39(1):101-106.

XU X Z, FU H Q, LIU Z L, et al.Study on particle swarm optimization PID control of primary permanentmagnet linear motor[J].Journal of Henan Polytechnic University(Natural Science) ,2020,39(1):101-106.

初级永磁式直线电机的粒子群优化PID控制研究

许孝卓1, 付惠琪2, 刘株利1, 汪旭东1

1.河南理工大学电气工程与自动化学院，河南焦作 454000;2.焦作市技师学院电气工程系，河南焦作 454000

摘要:初级永磁式直线电机（primary permanent magnet linear motor，PPMLM）具有成本低、结构 简单、推力密度大等优点，但在运行中存在参数变化和负载扰动等问题，使传统PID控制无法达到系统实时控制、快速响应的高精度伺服控制要求。为了提高PPMLM调速系统动态响应能力，降低启动时的超调性能，对初级永磁式直线电机的工作原理进行分析，建立数学模型，并对传统PID控制采用粒子群优化（particle swarm optimization ， PSO ）算法进行优化设计参数全局寻优的在线自整定PSO-PID控制器，使用MATLAB/Simulink建模仿真并进行试验验证。结果表明，基于PSO的PID控制器能够使电机快速平稳地启动，具有更小的超调性能和较强的抗干扰能力，可以实现电机的快速响应。

关键词:初级永磁式直线电机;高精度伺服控制系统;PID控制;粒子群优化算法

doi:10.16186/j.cnki.1673-9787.2020.1.13

基金项目:国家自然科学基金资助项目（U1504506）；河南省科技攻关项目（192102210073 ）

收稿日期:2019/05/09

修回日期:2019/06/19

出版日期:2020/01/15

Study on particle swarm optimization PID control of primary permanentmagnet linear motor

XU Xiaozhuo1, FU Huiqi2, LIU Zhuli1, WANG Xudong1

1.School of Electrical Engineering and Automation， Henan Polytechnic University， Jiaozuo  454000 ， Henan， China;2.Department of Electrical Engineering， Jiaozuo City Technician College， Jiaozuo  454000 ， Henan， China

Abstract:Primary permanent magnet linear motor （ PPMLM ） has the advantages of low cost， simple structure ， and high thrust density， but there are some problems such as parameters changes and load disturbance in motor operation. Therefore， the traditional PID control cannot meet the requirements of real-time control and fast response of high precision servo control system. In order to improve the dynamic response of PPMLM speed regulation system and to reduce the overshoot performance， the working principle of PPMLM was analyzed， the mathematical model of PPMLM was established， and the traditional PID control was optimized by particle swarm optimization （ PSO ） . An online self-tuning PSO-PID controller with global optimization of parameters was designed. The simulation tests of MATLAB/Simulink were carried out， and the results showed that the PID controller based on PSO optimization could make the motor start quickly and smoothly， meanwhile this controller had smaller overshoot characteristics and higher anti-interference ability， and the fast response of PPMLM could be realized.

Key words:primary permanent magnet linear motor;high-precision servo control system;PID control;particle swarm optimization algorithm

初级永磁式直线电机的粒子群优化PID控制研究_许孝卓.pdf