轨迹跟踪的混合编码遗传优化模糊PID控制策略  

Hybrid-coding genetic algorithm-based fuzzy-PID control methodologies for joint robot trajectory tracking

作　　者：王宏涛[1] 蒋清泽 张强 戴宁[1] WANG Hongtao;JIANG Qingze;ZHANG Qiang;DAI Ning(College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《哈尔滨工程大学学报》2021年第7期1076-1082,共7页Journal of Harbin Engineering University

基　　金：江苏省重点研发计划(BE2018010-2).

摘　　要：为进一步提高模糊PID(FPID)控制器应用于关节机器人轨迹跟踪控制的效果,本文提出了一种基于特征参数的混合编码遗传算法优化关节机器人轨迹跟踪模糊PID(GAhybrid-FPID)控制器的方法。提出了运用特征参数表征隶属函数和模糊规则等主要设计参数的方法,给出了特征参数与设计参数混合编码的遗传算法编码方法,显著简化了控制器设计过程,缩短了染色体编码长度。设计了基于混合编码方法的模糊PID控制器遗传优化算法,将所设计的遗传算法优化模糊PID控制器的方法应用于六关节机器人轨迹跟踪控制,仿真结果表明:基于混合编码策略的遗传算法均具有更优的寻优效率和寻优结果,本文提出的混合编码遗传算法优化后的机器人轨迹跟踪模糊PID(GAhybrid-FPID)控制器具有更好的轨迹跟踪控制效果,笛卡尔空间轨迹跟踪偏差比未经遗传算法优化的模糊PID(FPID)控制器、经直接编码的遗传算法优化后的模糊PID(GAdirect-FPID)控制器分别小16.6%和9.3%。To improve the control accuracy of the fuzzy proportional-integral-derivative(FPID)controller for the trajectory tracking control of a joint robot,in this paper,a novel optimization method for an FPID controller using the genetic algorithm(GA)with hybrid-coding feature(GAhybrid-FPID)based on characteristic parameters is proposed.The characteristic parameters are deduced to characterize the major design parameters,including the membership functions of input and output variables and the fuzzy rules of the FPID controller.A hybrid encoding method for the GA-related chromosome code derived from the characteristic parameters and design parameters is illustrated,which simplifies the design process of the controller and shortens the length of the chromosome code.The GA based on the hybrid-coding method for the FPID controller optimization is designed,and the simulation experiments on the designed GAhybrid-FPID controller for the six-joint robot trajectory tracking show that the GA using the hybrid-coding strategy has a quick optimization efficiency and good optimization accuracy.Thus,the proposed GAhybrid-FPID controller for joint robot trajectory tracking has good control performance.The trajectory tracking error in the Cartesian space is 16.6%and 9.3%smaller than those of the FPID controller without GA optimization and the Gadirect-FPID controller with direct-coding GA optimization,respectively.

关 键 词：关节机器人 轨迹跟踪 特征参数 混合编码 遗传算法 模糊PID控制 模糊控制 PID控制 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]