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利用前馈控制与传统的反馈控制相结合来控制位置伺服系统,由实时遗传算法在线调整前馈控制器参数,使其为对象的逆模型。用实际输出和设定值之间的跟踪误差计算个体的适应度,突变操作的范围也由跟踪误差确定,以保证参数的收敛。实验结果证明实时遗传算法的嵌入使得系统在跟踪、抗扰性能等方面有明显改善
The feedforward control is combined with the traditional feedback control to control the position servo system. The feedforward controller parameters are adjusted online by the real-time genetic algorithm to make it an inverse model of the object. The individual fitness is calculated using the tracking error between the actual output and the setpoint. The range of the abrupt operation is also determined by the tracking error to ensure the convergence of the parameters. Experimental results show that the embedding of real-time genetic algorithms makes the system significantly improve tracking, anti-jamming performance, etc.