A Novel Control Approach: Combination of Self-tuning PID and PSO-Based ESO

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• 关键词：Brushless DC motor ; Nonlinear extended state observer ; Particle swarm optimization ; Self ; tuning PID
• 刊名：Lecture Notes in Computer Science
• 出版年：2015
• 出版时间：2015
• 年：2015
• 卷：9141
• 期：1
• 页码：189-199
• 全文大小：768 KB
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• 作者单位：Yanchun Chang (19)
  Feng Pan (19)
  Junyi Shu (19)
  Weixing Li (19)
  Qi Gao (19)
  
  19. School of Automation, Beijing Institute of Technology, Beijing, 100081, China
  
• 丛书名：Advances in Swarm and Computational Intelligence
• ISBN：978-3-319-20472-7
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349

文摘

This study focuses on the steady speed control of brushless DC motor with load torque disturbance from the cam and spring mechanism. Due to the nonlinearity and complexity of the load torque, the control system proposed in this paper is divided into the inner-loop compensator, which is to feed-forward compensate the disturbance, and the outer-loop controller. The inner-loop compensator uses a nonlinear extended state observer (ESO) to compensate the actual system as a nominal model, and the outer-loop pole assignment self-tuning PID controller is used to stabilize the nonlinear nominal model. Since a set of suitable nonlinear ESO parameters are difficult to get normally, particle swarm optimization (PSO) is employed to optimize the observer. The simulation results with high precision verify the effectiveness of the proposed control system.