Research On AC Servo System With Adaptive Fractional Order PID Controller

Servo control has always been an important way for industrial production.And Ac servo control is also a vital part of modern industry for our country.The necessary conditions include precise system model,optimal controller andadvanced control mode in order to improve the performance of ac servo control system.With the rapid development of theory on fractional order system and controller,it can be attempted to optimize the servo control process and get better performance with more precise servo system modeland fractional order controller.This paper attempts to improve the optimization algorithm of fractional order controller based on the experience of fractional order system model established by predecessors,and design controller to realize the whole servo control process.In terms of system modeling,according to the structure of motor and integer order mathematical model,the fractional order models of current loop and the mechanical ring can be established on permanent magnet synchronous motor with the combined method of mechanism modeling and numerical modeling.The corresponding Matlab program can be compiled according to the fractional order system model.And the module encapsulation on fractional order system model also can be finished in Matlab/Simulink to be the basis for the later simulation validation process.In the controller design,firstly,it is studied that the fractional order PID controller structure and the effect of various parameters on the whole control process.At the same time,the fractional order controller design process also can be studied based on the vector method.Secondly,an improved algorithm based on artificial bee colony is proposed to set up the PID controller design process,which proposed an adaptive factor based on the error change.The step length and selection probability of the controller parameters can be automatically changed with the environment.Finally the validity and superiority of the proposed approach can be proved with the step response and sine following response curve Matlab/Simulink experimental simulation.In the aspect of system design,this paper designed a relatively high precision hardware driver circuit to realize the control effect.The circuit mainly includes the main rectifier part,power supply circuit,the inverter of the space vector algorithm,the control detection and protection circuit,etc.It can protect the circuit when overpressure,undervoltage,overcurrent,short circuit and overtemperature.The precise filter transformation circuit can meet the demand on advanced preformance on control process.Finally,the supporting program is prepared based on ccs6.0,and the vector control of the permanent magnet synchronous motor is realized.