基于模糊分数阶PID的轮式攀爬机器人运动控制  

Motion Control of Wheeled Climbing Robot Based on Fuzzy Fractional Order PID

作　　者：郑孝干 冯振波 杨毅豪 林信恩 陈海旭 ZHENG Xiaogan;FENG Zhenbo;YANG Yihao;LIN Xin’en;CHEN Haixu(Fuzhou Power Supply Company,State Grid Fujian Electric Power Co.,Ltd.,Fuzhou 350009,China;Laboratory of Live Working Technology for Power Transmission,State Grid Fujian Electric Power Co.,Ltd.,Fuzhou 350002,China)

机构地区：[1]国网福建省电力有限公司福州供电公司,福建福州350009 [2]国网福建省电力有限公司输电带电作业技术实验室,福建福州350002

出　　处：《机械与电子》2024年第7期47-51,共5页Machinery & Electronics

基　　金：国网福建省电力有限公司科技项目(52131021022B)。

摘　　要：基于模糊分数阶PID的轮式攀爬机器人运动控制,通过李群李代数方法建立轮式攀爬机器人的动力学方程,有助于理解机器人的运动特性,并为控制器设计提供基础。设计一种模糊分数阶PID控制器,将控制信号转化为控制电机所需的力矩输出,以满足攀爬机器人运动控制;为了获得更好的控制效果,采用改进粒子群算法来优化模糊分数阶PID控制器的参数;通过调整惯性权重系数和学习因子来自适应地搜索参数的最优解,以提高控制器的性能。实验结果表明,所提方法经过优化后的PID机器人运动控制器的控制误差较低,轮式攀爬机器人运动控制精度更佳,期望角度误差与位移误差较小,响应更快,能维持系统稳定输出。The motion control of wheeled climbing robot is based on fuzzy fractional PID,and the dynamic equation of wheeled climbing robot is established by Lie group and Lie algebraic method,which helps to understand the motion characteristics of robot and provides the basis for controller design.A fuzzy fractional order PID controller is designed to convert the control signal into the torque output required by the control motor to satisfy the motion control of the climbing robot.In order to obtain better control effect,improved particle swarm optimization is used to optimize the parameters of fuzzy fractional order PID controller.The performance of the controller is improved by adjusting the inertia weight coefficient and learning factor to find the optimal solution of the parameters adaptively.The experimental results show that the optimized PID robot motion controller has lower control error,better motion control precision,smaller expected angle error and displacement error,faster response,and can maintain the stable output of the system.

关 键 词：粒子群算法 轮式攀爬机器人 PID控制器 机器人结构 运动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]