具有不完全微分的Fuzzy-GA PID控制器及其在智能仿生人工腿中的应用  

FUZZY-GA PID CONTROLLER WITH INCOMPLETE DERIVATION AND ITS APPLICATION TO INTELLIGENT BIONIC ARTIFICIAL LEGS

作　　者：谭冠政[1] 李安平[1] 郝颖明[2] 

机构地区：[1]中南大学机器人研究所,长沙410083 [2]中国科学院机器人学开放研究实验室,沈阳110016

出　　处：《机器人》2002年第6期481-486,共6页Robot

基　　金：中国科学院机器人学开放研究实验室基金资助 (RL 2 0 0 0 0 2)

摘　　要：以模糊推理和遗传算法为基础 ,提出了一种新的具有不完全微分的最优 PID控制器的设计方法 .该控制器由离线和在线两部分组成 .在离线部分 ,以系统响应的超调量、上升时间以及调整时间为性能指标 ,利用遗传算法搜索出一组最优的 PID参数 Kp*、Ti*和 Td*,作为在线部分调整的初始值 .在在线部分 ,一个专用的 PID参数优化程序以离线部分获得 Kp*、Ti*和 Td*为基础 ,根据系统当前的误差 e和误差变化率 e,通过一个模糊推理系统在线调整系统瞬态响应的 PID参数 ,以确保系统的响应具有最优的动态和稳态性能 .该控制器已被用来控制由作者设计的智能仿生人工腿中的执行电机 .计算机仿真结果表明 。An optimal PID controller with incomplete derivation is proposed based on fuzzy inference and genetic algorithms. It consists of the off line part and the on line part. In the off line part, by taking the overshoot, rise time, and setting time of system response as the performance indexes and by means of the genetic algorithm, a group of optimal PID parameters K p * , T i * , and T d * are obtained, which are used as the initial values for the on line tuning of PID parameters. In the on line part, based on K p * , T i * , and T d * and according to the system's current error e and its time derivative , a dedicated program is written, which is used to optimize and adjust the PID parameters on line through a fuzzy inference system to ensure that the system response has optimal dynamic and steady state performances. This controller has been used to control the executive motor of the intelligent bionic artificial leg designed by the authors. The result of computer simulation shows that this kind of optimal PID controller possesses good control performance and robust performance.

关 键 词：模糊推理 遗传算法 具有不完全微分的PID控制器 智能仿生人工腿 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]