基于改进沙猫群优化的RGV电机滑模速度同步控制*

doi:10.16731/j.cnki.1671-3133.2026.05.019

现代制造工程 ›› 2026, Vol. 548 ›› Issue (5): 146-153.doi: 10.16731/j.cnki.1671-3133.2026.05.019

• 仪器仪表/检测/监控 • 上一篇下一篇

基于改进沙猫群优化的RGV电机滑模速度同步控制^*

徐明睿, 周德强, 汪尚, 盛卫锋, 左文娟

江南大学智能制造学院,无锡 214401

收稿日期:2025-12-16 出版日期:2026-05-18 发布日期:2026-06-04
通讯作者: 周德强,博士,副教授,主要研究方向为智能机器人、无损检测。E-mail:zhoudeqiang@jiangnan.edu.cn
作者简介:徐明睿,硕士研究生,主要研究方向为智能机器人控制系统。E-mail:102371823@qq.com
基金资助:
^*“太湖之光”科技攻关(产业前瞻及关键技术研发)项目(G20222014)

Speed synchronization control of RGV motor based on improved sand cat swarm optimization sliding mode

XU Mingrui, ZHOU Deqiang, WANG Shang, SHENG Weifeng, ZUO Wenjuan

School of Intelligent Manufacturing,Jiangnan University,Wuxi 214401,China

Received:2025-12-16 Online:2026-05-18 Published:2026-06-04

摘要/Abstract

摘要： 针对双电机轨道制导小车(Rail Guided Vehicle,RGV)运动系统中存在的电机间速度差问题,提出了一种针对偏差耦合控制结构的终端滑模速度补偿器,并通过多策略改进了一种沙猫群优化算法对上述补偿器进行离线参数优化,最后形成完整的速度同步控制系统。通过多个实验将该方案与传统PID速度补偿器方案对比,验证其优越性。实验结果表明,在设定速度曲线最高值分别为0.7、0.8和1.0 m/s,运行距离均为6 m时,该方案将双电机轨道制导小车的电机间速度差的均方误差分别降低了17.9 %、34.7 %和35.4 %,速度差控制效果得到明显优化。

关键词: 轨道制导小车, 滑模控制, 电机同步控制, 群优化算法

Abstract: Aiming at the issue of speed difference between motors in the motion system of a dual-motor Rail Guided Vehicle (RGV), it proposes a terminal sliding mode speed compensator for the deviation coupling control structure,and further improves a sand cat swarm optimization algorithm through multiple strategies to offline optimize the parameters of the aforementioned compensator,ultimately forming a complete speed synchronization control system. It compares the proposed scheme with the general scheme using a PID speed compensator through multiple experiments to verify its superiority. The experimental results show that under the 6 m running conditions where the maximum values of the set speed curves are 0.7,0.8, and 1.0 m/s,respectively,the mean square error of the motor output speed difference from zero of the RGV can be reduced by 17.9 %,34.7 %,and 35.4 %,respectively,significantly optimizing the speed difference control effect.

Key words: Rail Guided Vehicle (RGV), sliding mode control, motor synchronization control, swarm optimization algorithm

中图分类号:

TP242.2

徐明睿, 周德强, 汪尚, 盛卫锋, 左文娟. 基于改进沙猫群优化的RGV电机滑模速度同步控制^*[J]. 现代制造工程, 2026, 548(5): 146-153.

XU Mingrui, ZHOU Deqiang, WANG Shang, SHENG Weifeng, ZUO Wenjuan. Speed synchronization control of RGV motor based on improved sand cat swarm optimization sliding mode[J]. Modern Manufacturing Engineering, 2026, 548(5): 146-153.

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基于改进沙猫群优化的RGV电机滑模速度同步控制^*

Speed synchronization control of RGV motor based on improved sand cat swarm optimization sliding mode

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