基于改进模糊控制算法的纱管抓取力控制  

Yarn tube gripping force control based on improved Fuzzy control algorithm

作　　者：李杭 管声启[1] 何建新[2] 李想[2] 邵伟力[2] LI Hang;GUAN Shengqi;HE Jianxin;LI Xiang;SHAO Weili(Xi'an Polytechnic University,Xi'an,710048,China;Textile Garment Industry Research Institute of Zhongyuan University of Technology,Zhengzhou,450007,China)

机构地区：[1]西安工程大学,陕西西安710048 [2]中原工学院纺织服装产业研究院,河南郑州450007

出　　处：《棉纺织技术》2025年第3期6-14,共9页Cotton Textile Technology

基　　金：国家重点研发计划(2022YFB4700601,2022YFB4700602,2022YFB4700603)。

摘　　要：为解决抓纱机械手在抓纱过程中存在的抗干扰能力弱和传统试凑法整定PID控制参数效率低导致难以实现对纱管抓取力精确控制的问题,提出一种基于遗传算法优化的改进模糊PID(GA‐Fuzzy)控制算法。首先,分析抓纱机械手抓取力控制系统的特性,提出遗传算法与模糊PID抓取力控制系统相结合的具体策略,并通过改进的遗传算法去优化模糊PID控制器的量化因子和比例因子,实现对PID控制参数的自适应调整和控制量输出的调整,从而优化系统的动态性能,提高控制响应速度和系统鲁棒性。最后通过MATLAB/Simulink仿真以及试验验证,对多种常见的不同规格型号的纱管进行了抓取测试。结果表明:GA-Fuzzy控制算法可以在0.312 s内达到稳定抓取力,相较于模糊PID控制和传统PID控制分别减少了0.395 s、0.570 s,降低了27.4%、19.2%的超调量,减少了0.007 N、0.023 N的稳态误差,系统的瞬态响应速度、控制精度以及稳定性均有明显提高,并且实测抓取成功率达到100%。In order to solve the problem of difficult to achieve accurate control of yarn tube grasping force due to weak anti-interference ability and low efficiency of the traditional trial-and-error method of adjusting PID control parameters in the process of yarn grasping manipulator,a kind of improved Fuzzy PID(GA-Fuzzy)control algorithm based on the optimization of genetic algorithm was put forward.Firstly,the characteristics of the yarn gripping manipulator gripping force control system were analyzed.The specific strategy of combining the genetic algorithm with the Fuzzy PID gripping force control system was proposed.The quantization factor and the proportionality factor of the Fuzzy PID controller were optimized by the improved genetic algorithm so as to realize the adaptive adjustment of the PID control parameter and the adjustment of the control output.Thus the dynamic performance of the system was optimized,the speed of the control response and the robustness of the system was improved.Finally,through MATLAB/Simulink simulation and experimental verification,the gripping test was carried out on a variety of common yarn tubes with different specification models.The results showed that the GA-Fuzzy control algorithm designed could achieve a stable gripping force within 0.312 s,compared with the Fuzzy PID control and traditional PID control,respectively,the time were reduced by 0.395 s,0.570 s,the overshoot were reduced by 27.4% and 19.2%,and the steady state error were reduced by 0.007 N and 0.023 N.The transient response speed,control accuracy and stability of the system were significantly improved.Moreover,the measured success rate of gripping was reached 100%.

关 键 词：纱管抓取 末端执行器 机械臂 动力学模型 模糊PID控制 遗传算法 

分 类 号：TS112.7[轻工技术与工程—纺织材料与纺织品设计]