移动机器人差分进化PID控制仿真研究  

Research on PID Control Simulation of Mobile Robot Differential Evolution

作　　者：游安华 YOU An-hua(Engineering Training Centre,Nanjing University of Science and Technology,Jiangsu Nanjing 210094,China)

机构地区：[1]南京理工大学工程训练中心,江苏南京210094

出　　处：《机械设计与制造》2024年第6期352-356,共5页Machinery Design & Manufacture

摘　　要：这里提出了一种两轮差速底盘的并联式PID控制策略,基于提出的补偿跟踪器,采用差分进化算法搜索最优PID参数,从而快速且准确地控制底盘轨迹跟踪运动。这里首先建立了两轮差速底盘的数学模型,针对其中的未知非线性部分,采用补偿跟踪器进行观测。然后基于差分进化算法,搜索最优PID参数,利用两个并联的PID控制器同时控制底盘的位置与旋转角度,实现给定轨迹的追踪。通过对控制器仿真分析,差分进化算法可以获取最优PID参数,并得出x,y方向位置阶跃响应的响应时间为0.339s、0.312s,稳态误差为0.0018m、0.0013m,回转角度正弦响应平均误差为0.045rad。最后,对随机轨迹进行跟踪仿真,结果表明底盘可以准确而快速地跟踪轨迹,该控制策略可以有效改善系统性能,具有良好的跟踪特性。A parallel PID control strategy for a two-wheel differential chassis is proposed in this article.Based on the proposed compensation tracker,the differential evolution algorithm is used to search for the optimal PID parameters to quickly and accu-rately control the chassis trajectory tracking motion.Firstly,a mathematical model of the two-wheel differential chassis is estab-lished.Aiming at the unknown nonlinear part,the compensation tracker is used to observe the unknown part.Then,based on the differential evolution algorithm to search for the optimal PID parameters,the position and rotation angle of the chassis are con-trolled by two parallel PID controllers at the same time to complete the tracking of the given trajectory.Through the simulation analysis of the controller,the optimal PID parameters are obtained by the differential evolution algorithm,and the position step response time in the x and y directions are 0.339s and 0.312s,and the steady-state errors are 0.0018m and 0.0013m,respective-ly.The angular sinusoidal response has an average error of 0.045rad.Finally,the random trajectory is tracked and simulated,and the results show that the chassis can track the trajectory accurately and quickly,and the control strategy can improve the sys-tem performance and has good tracking performance.

关 键 词：差速底盘 并联式PID 差分进化 补偿跟踪器 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]