Integrated Design of Structure and Control of Motor Servo System Based on Improved Gravitational Search Algorithm

This paper proposes a structure and control integrated design method for motor servo systems. Due to the existence of the coupling between the structure and the controller, the control performance is influenced by structure parameters. An integral sliding mode tracking controller is designed for the motor servo system. To achieve a better control performance, an integrated cost function is built considering both structure and controller parameters. The weight-based gravitational search algorithm is used to jointly optimize controller parameters and structural parameters of the system so that an integrated design of the system's structure and control can be achieved. The effectiveness of the algorithm is proved by comparison simulation.