膜计算优化PID控制在煤炭分拣机器人中的应用  

Application of PID Control on Coal Sorting Robot System Optimized with Membrane Computing

作　　者：葛平平[1] 黄友锐[1] 曲立国[1] 龚大伟[1] 杨再甫[1] 

机构地区：[1]安徽理工大学电气与信息工程学院,安徽淮南232001

出　　处：《煤炭工程》2014年第8期139-142,共4页Coal Engineering

基　　金：国家自然科学基金资助项目"基于分子信标DNA计算的微纳型PID控制器模型研究"(61073101)

摘　　要：在传统煤炭分拣机器人的分拣过程中,由于时变负载的非线性变化经常引起速度的波动,严重影响了系统的控制性能,降低了机械手操作的精确性和快速性。论文设计了一种基于模糊星形拓扑结构的膜计算优化算法(FST-MC算法)优化的PID自整定系统,将PID的三个控制参数编码成FST-MC算法优化的对象,经过换位、交流、交叉和改写这四个规则处理后得到理想的优化值。最后,进行了仿真实验,实验结果验证了本系统响应速度快、有着很好的动态跟随性能和很高的控制精度,在煤炭分拣机器人系统中有着很好的应用前景。In the process of coal sorting with traditional sorting robot, control performance of the system can＇t be guaranteed, because of the fluctuations of speed caused by nonlinear variation of time - varying load. An optimized PID self - tuning system based on fuzzy star topology - membrane computing algorithm （ FST - MC algorithm） was designed, which encoded three control parameters of PID into optimization objects of FST - MC algorithm, obtaining ideal optimal values through empathy, communication, cross and rewrite. Finally, a simulation experiment was conducted, and the results verified the quick responding speed, high control accuracy and good robustness of the system. With all the advantages, application prospect of the system is promising.

关 键 词：模糊星形拓扑结构的膜计算优化算法 煤炭分拣机器人 PID 

分 类 号：TD242[矿业工程—矿井建设]