基于粒子群优化的模糊自适应PID控制器的应用  

Fuzzy self-adaptive PID controller application based on PSO

作　　者：刘涛[1] 刘庆运[1] 蒋雅芬 

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243032 [2]安徽工业大学工程实践与创新教育中心,安徽马鞍山243032

出　　处：《河南城建学院学报》2016年第3期80-83,共4页Journal of Henan University of Urban Construction

摘　　要：针对拆除机器人机械臂液压系统存在控制对象模型难以建立、时变性和非线性等特性,采用粒子群算法优化模糊控制器,从而整定PID参数。研究结果表明,相比传统的PID控制器,基于PSO优化的自适应模糊PID控制器具有无超调、稳态精度高等特点。Aiming at the characteristics of the control object model of the hydraulic system of the dismantling robot manipulator is difficult to establish,time variant and nonlinear and so on,the particle swarm optimization algorithm is used to optimize the fuzzy controller,so as to set the PID parameters. The research results show that compared with the traditional PID controller,the adaptive fuzzy PID controller based on PSO optimization has the characteristics of no overshoot,high steady-state accuracy and high accuracy.

关 键 词：拆除机器人 液压系统 粒子群算法 自适应模糊PID控制器 

分 类 号：TH17[机械工程—机械制造及自动化]