Parameters of SCO.

For a car that is propelled by an armature-controlled DC motor This study proposes an adjustable linear positioning control. In this paper, to optimize the parameters of the car’s position controller the sine cosine optimization algorithm (SCA) is utilized, with support from the Balloon effect (BE), The BE is incorporated to enhance the responsiveness of the traditional sine cosine optimization algorithm when faced with external disturbances and variations in system parameters. In the proposed approach, the determined value of the open loop transfer function of the motor and the updated values of the controller gains serve as the basis for the modified sine cosine algorithm’s objective function (OF). Under the influence of changes in motor parameters and step load disturbances, the system using the suggested controller is evaluated. Results from simulations and experiments show that the proposed adaptive controller, which implements the modified sine cosine algorithm, enhances the system’s overall performance in the presence of load disturbances and parameter uncertainties.

针对电枢控制直流电机驱动的移动小车，本研究提出一种可调直线定位控制方法。为优化该小车位置控制器的参数，本文采用结合气球效应（Balloon effect, BE）改进的正弦余弦优化算法（Sine Cosine Algorithm, SCA）；引入气球效应以提升传统正弦余弦优化算法应对外部扰动与系统参数变化时的响应性能。在所提方法中，电机开环传递函数的确定值与控制器增益的更新值，作为改进型正弦余弦优化算法的目标函数（Objective Function, OF）的构建依据。在电机参数变化与阶跃负载扰动的工况下，对采用所提控制器的系统进行性能评估。仿真与实验结果表明，采用改进型正弦余弦优化算法的所提自适应控制器，在存在负载扰动与参数不确定性的场景下，可有效提升系统的整体综合性能。