面向儿童游戏的改进PID陪伴机器人运动规划及控制方法研究  

Research on the motion planning and control method of the improved PID companion robot for children’s games

作　　者：乔素芳 QIAO Sufang(Xianyang Polytechnic Institute,Xianyang Shaanxi 712000,China)

机构地区：[1]咸阳职业技术学院,陕西咸阳712000

出　　处：《自动化与仪器仪表》2024年第7期288-292,共5页Automation & Instrumentation

基　　金：陕西省职业技术教育学会课题《“岗课赛证”与〈幼儿园教育活动设计〉课程融合路径研究》(2023SZX216)。

摘　　要：为进一步提升儿童游戏机器人的整体控制性能,提出一种基于改进PID控制算法和前馈控制的机器人跟踪轨迹控制算法。其中,以PID控制算法作为基础的轨迹跟踪控制算法,引入麻雀搜索算法(Sparrow Search Algorithm, SSA)进行控制算法优化,同时引入前馈控制策略,以进一步提升轨迹跟踪控制的效果。仿真结果表明,与传统的PID控制算法相比,基于SSA算法改进的PID控制算法在进行轨迹控制时具有更低的超调量,具有更好的稳定性;与单纯的PID控制相比,引入前馈控制策略的PID控制在进行关节轨迹控制时能够更快跟踪到理想的关节轨迹,并进行稳定的控制,解决了控制过程存在的抖动和振荡问题。综上,构建的机器人跟踪轨迹控制算法性能良好,能够进行稳定且精准的机器人运动控制,可应用于陪伴机器人的控制设计中,与儿童进行效果更好的游戏互动。To further improve the overall control performance of children’s game robots,a robot tracking trajectory control algorithm based on improved PID control algorithm and feedforward control is proposed.Among them,the trajectory tracking control algorithm based on PID control algorithm,Sparrow Search Algorithm(SSA)is introduced for control algorithm optimization,and feedforward control strategy is introduced to further improve the effectiveness of trajectory tracking control.The simulation results show that compared with traditional PID control algorithms,the improved PID control algorithm based on SSA algorithm has lower overshoot and better stability in trajectory control;Compared with simple PID control,PID control with the introduction of feedforward control strategy can quickly track the ideal joint trajectory and achieve stable control during joint trajectory control,solving the problems of jitter and oscillation in the control process.In summary,the constructed robot tracking trajectory control algorithm has good performance and can perform stable and accurate robot motion control.It can be applied in the control design of companion robots and has better game interaction with children.

关 键 词：服务型机器人 轨迹跟踪控制 PID SSA 前馈控制 

分 类 号：TP292[自动化与计算机技术—检测技术与自动化装置]