Research On Particle Swarm Optimization Self Tuning Method Of ADRC For Space Mechanism

Inter satellite laser communication has attracted the attention of many countries due to the advantages of large amount of data transmission,high efficiency and antiinterference ability.Many countries have achieved a lot of results on this research.But when we control the spatial motion mechanism,we can find that it still exists some problems.Because cosmic environment is weightless and vacuum,and it's different from terrestrial environment.This will cause a change in control model.Then,this will cause the parameter to be inapplicable when the controller is in a different environment.And the parameter tuning of ADRC used in this project is difficult manually.Therefore,in order to make the controller parameters adapt to different environments,we need to select a method for parameter self-tuning.In this dissertation,the parameter self-tuning is taken as the starting point,and different parameter self-tuning methods are selected for evaluation and feasibility analysis according to the active disturbance rejection controller used in the space motion mechanism in this subject.Finally,the PSO is chosen because of its small complexity.After determining the parameter self-tuning scheme,the model of PMSM of spatial motion mechanism is built in Simulink,and the parameters of ADRC used in PSO algorithm are self-tuning.To test the parameter finding capability of PSO,nine test functions are selected to in article.The test results indicate that PSO has some problems,which will cause its poor optimization capability.To improve search capability of PSO,and adds the worst particle evolution strategy,the optimal particle perturbation strategy and the gray wolf algorithm improvement strategy to solve the problems of the loss of diversity,the easy aggregation and the weak search capability of updating formula.The optimized algorithm is compared with the standard algorithm and verified on nine standard test functions.The results prove that the improved PSO has better finding capability and convergence velocity.And These two algorithms are used for parameter self-tuning of ADRC for simulation.The results indicate the parameters set by the optimization PSO(PSO?GWO)are better.Finally,the experiment of parameter self-tuning is carried out on the motion mechanism,and PSO and improved PSO(PSO?GWO)are written in the DSP TMS320F28335.The results prove that self-tuning of PSO is feasible,and also verify the improved PSO(PSO?GWO)has better setting effect and faster convergence speed.