基于PSO算法的串联机械手位置跟踪模糊PID控制  

Fuzzy PID control for position tracking of series manipulator based on the PSO algorithm

作　　者：唐立伟[1,2] 颜红芹 Li-wei TANG;Hong-qin YAN(Loudi Vocational and Technical College,Loudi 417000,China;The College of Electric and Information Engineering,Hunan University,Changsha 410082,China)

机构地区：[1]娄底职业技术学院,湖南娄底417000 [2]湖南大学电气信息工程学院,长沙410082

出　　处：《机床与液压》2020年第12期72-76,共5页Machine Tool & Hydraulics

基　　金：湖南省自然科学基金资助项目(2018JJ5048);湖南省教育厅科学研究项目(19C1548)。

摘　　要：在串联机械手运动控制中常采用PID控制器,存在超调较大、跟踪精度低的问题,为此设计了一种基于微粒群(PSO)算法的模糊PID控制器。首先,根据两力臂串联机械手模型,推算出动力学方程式和传递函数;然后,设计控制器的系统结构,采用PSO算法优化模糊PID控制参数,提高了系统的自适应能力和跟踪精度;最后,在MATLAB中对机械手位置跟踪控制进行仿真。仿真结果显示:PID控制超调较大,有震荡;经模糊调整后,超调变小,稳定性较好;再通过PSO优化,响应速度变快,超调量基本消除。The PID controller is often used in the motion control of series manipulator,which has the problems of large overshoot and low tracking accuracy.Based on this,a fuzzy PID controller based on particle swarm optimization(PSO)algorithm is designed.First of all,the dynamic equation and transfer function were deduced based on the model of serial manipulator with two arms.Secondly,the system structure of the controller was designed,and the PSO algorithm was used to optimize the control parameters of fuzzy PID controller,which improved the adaptive ability and tracking precision of the system.Finally,the tracking and control of manipulator position were simulated by the MATLAB.The simulation results show that the PID controller has certain oscillation and large overshoot.After fuzzy adjustment,the overshoot becomes small and the stability is better;on this basis,the response speed gets faster,and the overshoot is basically eliminated through PSO optimization.

关 键 词：机械手 位置跟踪 模糊PID控制 PSO算法 MATLAB仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]