基于PID参数优化的机械臂末端异常振动控制  

Abnormal Vibration Control of Robotic Arm end Effector Based on PID Parameter Optimization

作　　者：李希元 林春清 陈海雷 李宇博 LI Xiyuan;LIN Chunqing;CHEN Hailei;LI Yubo(Ultra High Voltage Branch,State Grid Liaoning Electric Power Co.,Ltd.,Shenyang 110055,China;State Grid Dalian Power Supply Company,DaLian 116001,China)

机构地区：[1]国网辽宁省电力有限公司超高压分公司,辽宁沈阳110055 [2]国网大连供电公司,辽宁大连116001

出　　处：《机械制造与自动化》2024年第6期251-256,共6页Machine Building & Automation

摘　　要：当机械臂停止工作后,因柔性会产生残余振动,使得机械臂末端振动出现异常,不能精准到达期望位置。为了有效控制机械臂末端异常振动,提出基于PID参数优化的机械臂末端异常振动控制方法。计算机械臂末端位置与期望位置之间的差异,根据该差异确定控制约束参数。在期望差异约束下引入免疫蜂群算法,对PID控制器参数进行优化。通过参数优化后的位置PID控制器实现机械臂末端异常振动控制。实验结果表明:所提方法应用后机械臂末端异常振动的振幅较低且变化较为稳定,机械臂角度差与偏移量均较低,响应时间短,能够实现对异常振动的精准快速控制。When the robotic arm comes to a halt,residual vibrations occur due to flexibility,causing abnormal vibrations at the end of the robotic arm and failure in accurately reaching the desired position.To effectively control the abnormal vibrations at the end of the robotic arm,a control method based on PID parameter optimization is proposed.The difference between the actual position and the desired position of the robotic arm's end is computed,based on which control constraint parameters are determined.The immune-bee algorithm is introduced under the constraint of the desired difference to optimize the parameters of the PID controller.The positional PID controller,with the optimized parameters,is utilized to control the abnormal vibrations at the end of the robotic arm.The experimental results show that after the application of the proposed method,the amplitude of abnormal vibration at the end of the robotic arm is relatively low and the variation is relatively stable.The angle difference and offset of the robotic arm are both low,and the response time is short,which can achieve precise and fast control of abnormal vibration.

关 键 词：PID参数优化 机械臂 异常振动控制 期望差异约束 PID控制器 免疫蜂群算法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]