Investigation of the controller parameter optimisation for a servomechanism

Abstract

A novel controller parameter optimisation method to effectively improve the motion accuracy of a servomechanism is proposed in this article. This method overcomes the drawbacks of conventional controller parameter optimisation methods, such as inefficiency and dependence on experience. The servomechanism model was established, and a performance analysis was performed. Moreover, the design requirements were developed. The robust stability was adopted to solve the problem induced by great variations in the modelling elements. Subsequently, a multi-objective nonlinear optimisation problem was developed and solved by an intelligent optimisation algorithm. To achieve the desired performance, the multi-objective optimisation function adopted a comprehensive command response performance function and an external disturbance rejection response function. To validate the effectiveness and feasibility of this method by simulation and experiment, an open servomechanism platform was established. The simulated and experimental results show that the tracking error, protrusion error and performance indicators are all reduced greatly under different working conditions. This method can effectively improve the motion accuracy and has the advantages of high efficiency, high practicality and high flexibility.