基于智能PID算法的爬壁机器人位置伺服控制方法  

Position Servo Control Method of Wall Climbing Robot Based on Intelligent PID Algorithm

作　　者：李明倩 王苗 刘芳[2] LI Mingqian;WANG Miao;LIU Fang(Experimental Training Centre,Wuhan City College,Wuhan 430083,China;School of Computer Science,Wuhan University,Wuhan 430072,China)

机构地区：[1]武汉城市学院实验实训中心,湖北武汉430083 [2]武汉大学计算机学院,湖北武汉430072

出　　处：《机械与电子》2023年第5期46-50,共5页Machinery & Electronics

基　　金：国家自然科学基金面上项目(62072346)。

摘　　要：针对爬壁机器人实际与理想作业位置偏差过大的问题,提出了基于智能PID算法的爬壁机器人位置伺服控制方法。通过分析爬壁机器人的运动状态,构建爬壁机器人的运动学模型,获取爬壁机器人的运动规律和其位姿变化特征。运用智能PID算法对爬壁机器人的位置实施伺服控制,利用遗传算法不断调节机器人控制参数,得到最佳适应度函数,生成全局最优的PID控制参数。根据爬壁机器人运动状态得出控制终止条件,获取最终的位置伺服控制结果,实现爬壁机器人位置伺服控制。实验结果表明,所提方法的位置伺服控制稳定性较好,能够有效提高位置伺服控制精度,增强抗干扰性。Aiming at the problem that the deviation between the actual and ideal working position of wall climbing robot is too large,a position servo control method of wall climbing robot based on Intelligent PID algorithm is proposed.By analyzing the motion state of the wall climbing robot,the kinematics model of the wall climbing robot is constructed,and the motion law and pose change characteristics of the wall climbing robot are obtained.The intelligent PID algorithm is used to servo control the position of the wall climbing robot,and the genetic algorithm is used to continuously adjust the robot control parameters to obtain the best fitness function and generate the globally optimal PID control parameters.According to the motion state of the wall climbing robot,the control termination condition is obtained,and the final position servo control result is obtained to realize the position servo control of the wall climbing robot.The experimental results show that the position servo control of the proposed method has good stability,can effectively improve the position servo control accuracy and enhance the anti-interference.

关 键 词：智能PID算法 爬壁机器人 伺服控制 运动学模型 位置控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]