基于粒子群优化的冶金机器人轨迹跟踪控制  

Trajectory Tracking Control of Metallurgical Robot based on Particle Swarm Optimization

作　　者：曹征科 Cao Zhengke(Ironmaking Plant,Wuhan Iron and Steel Co.,Ltd.,Wuhan 430080)

机构地区：[1]武钢有限炼铁厂,湖北武汉430080

出　　处：《冶金设备》2023年第6期20-23,共4页Metallurgical Equipment

摘　　要：为提升冶金机器人轨迹跟踪控制的性能,提出基于粒子群优化的冶金机器人轨迹跟踪控制。首先对基于粒子群优化的冶金机器人轨迹跟踪控制方法的设计。其中包括,构建粒子群优化控制器算法,基于已经构建的算法进行构建跟踪路径,最后进行粒子群优化的冶金机器人控制结构设计。为了验证所设计的方法的实用性,特为此创建对比实验。将基于粒子群优化的冶金机器人轨迹跟踪控制方法与普通的基于机器人四阶运动学模型控制方法以及基于HJI的移动机器人轨迹跟踪控制方法进行对比分析。最后得出基于粒子群优化的冶金机器人轨迹跟踪控制方法控制性能好,并且具有良好的抗扰性。Aim To improve the performance of trajectory tracking control of metallurgical robot,a trajectory tracking control of metallurgical robot based on Particle swarm optimization is proposed.Methods Firstly,the trajectory tracking control method of metallurgical robot based on Particle swarm optimization was designed.It includes building the Particle swarm optimization controller algorithm,building the tracking path based on the algorithm already built,and finally designing the control structure of the metallurgical robot based on Particle swarm optimization.In order to verify the practicality of the designed method,a comparative experiment is created for this purpose.Results The trajectory tracking control method of metallurgical robot based on Particle swarm optimization is compared with the general control method based on the fourth order Kinematics model of robot and the trajectory tracking control method of mobile robot based on HJI.Finally,it is concluded that the trajectory tracking control method of metallurgical robot based on particle swarm optimization has good control performance and good anti⁃interference.

关 键 词：粒子群 冶金 机器人 轨迹跟踪 

分 类 号：TG333.2[金属学及工艺—金属压力加工] TH137[机械工程—机械制造及自动化] TP18[自动化与计算机技术—控制理论与控制工程]