冗余机器人运动轨迹模糊PID控制优化与仿真研究  

Optimization and simulation of fuzzy PID control for redundant robot motion trajectory

作　　者：谢春丽 孟和吉雅[2] XIE Chunli;MENG Hejiya(College of Artificial Intelligence and Big Data,Hulunbuir University,Hulunbuir 021008,Inner Mongolia,China;College of Computer Science,Inner Mongolia University,Hohhot 010020,Inner Mongolia,China)

机构地区：[1]呼伦贝尔学院人工智能与大数据学院,内蒙古呼伦贝尔021008 [2]内蒙古大学计算机学院,内蒙古呼和浩特010020

出　　处：《中国工程机械学报》2024年第3期321-325,共5页Chinese Journal of Construction Machinery

基　　金：内蒙古自治区民委横向资助项目(MW-2018-MGYWXXH-309,MGYWZZS-NMGDX-20170508)。

摘　　要：为了提高冗余机器人控制系统输出精度,设计了优化模糊比例-积分-微分(PID)控制系统,通过仿真验证控制系统的可行性。建立了冗余机器人的运动学模型,应用了模糊PID控制系统。研究改进粒子群算法,通过修改交叉算子和非线性动态惯性权重,提高粒子群算法的全局搜索能力。根据冗余机器人模糊PID控制优化流程,利用改进粒子群算法迭代搜索能力在线调整PID控制参数,使得进一步提高冗余机器人控制系统稳定性。在无干扰和有干扰条件下,利用Matlab软件对冗余机器人输出精度进行仿真实验。结果表明:在无干扰状况下,冗余机器人采用2种控制系统,其输出精度没有明显差别。在有干扰状况下,基于改进粒子群算法优化模糊PID控制系统,冗余机器人抗干扰能力增强,输出精度更高。冗余机器人采用改进粒子群算法优化后的模糊PID控制系统,可以得到更稳定的控制效果。In order to improve the output accuracy of the redundant robot control system,an optimized fuzzy proportional-integral-derivative(PID) control system was designed,and the feasibility of the control system was verified through simulation.The kinematics model of the redundant robot is established,and the fuzzy PID control system is introduced.We studied the improvement of particle swarm optimization algorithm by modifying the crossover operator and nonlinear dynamic inertia weight to improve its global search ability.The optimization process of fuzzy PID control for redundant robots is provided,and the improved particle swarm optimization algorithm is used to iteratively search and adjust PID control parameters online,further improving the stability of the redundant robot control system.Simulate the output accuracy of redundant robots using Matlab software under both interference free and interference free conditions.The results show that in the absence of interference,there is no significant difference in output accuracy between two control systems used for redundant robots.In the presence of interference,optimizing the fuzzy PID control system based on improved particle swarm optimization algorithm results in stronger anti-interference ability and higher output accuracy for redundant robots.The redundant robot adopts an improved particle swarm optimization algorithm optimized fuzzy PID control system,which can achieve more stable control effects.

关 键 词：冗余机器人 模糊PID控制器 改进粒子群算法 优化 仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]