基于改进天牛须算法的仿人机械手模糊PID控制  

Fuzzy PID Control of Humanoid Robotic Arm Based on Improved Beetle Whisker Algorithm

作　　者：陈家梁 刘飞 CHEN Jialiang;LIU Fei(School of Mechanical Engineering,Yangtze University,Jingzhou,Hubei 434023,China;School of Integrated Circuits,Shenzhen Polytechnic University,Shenzhen,Guangdong 518055,China)

机构地区：[1]长江大学机械工程学院,湖北荆州434023 [2]深圳职业技术大学集成电路学院,广东深圳518055

出　　处：《自动化应用》2025年第7期67-71,共5页Automation Application

基　　金：广东省教育厅科研项目(2023KTSCX317);深圳职业技术大学科研重点项目(6023310005K)。

摘　　要：仿人机械手的抓取力控制因系统的复杂性和非线性,对传统PID控制器提出了严峻挑战。为了提升控制精度和抓取安全性,提出了一种基于改进天牛须算法(BAS)的模糊PID控制策略,并将其应用于仿人机械手的抓取控制中。该方法通过优化PID参数,有效减小了系统的超调量,缩短了响应时间,并提升了系统的稳定性。通过MATLAB/Simulink仿真分析,验证了改进BAS模糊PID控制在响应速度和超调抑制方面的显著优势。此外,搭建了仿人机械手的硬件平台,进行了抓取实验,结果表明,与传统PID和模糊PID控制相比,改进的BAS模糊PID控制显著降低了抓取时的最大抓取力,提升了抓取安全性。The grasping force control of humanoid robotic arms presents significant challenges for traditional PID controllers due to system complexity and nonlinearity.To improve control precision and safety,this paper proposes an improved Beetle Antennae Search(BAS)-based fuzzy PID control strategy,applied to the grasping control of humanoid robotic arms.The method effectively reduces system overshoot,shortens response time,and enhances system stability by optimizing PID parameters.Simulation analysis using MATLAB/Simulink demonstrates the superior performance of the improved BAS fuzzy PID control in terms of response speed and overshoot suppression.Additionally,a hardware platform for a humanoid robotic hand was developed for grasping experiments.The results show that compared to traditional PID and fuzzy PID control,the improved BAS fuzzy PID significantly reduces the maximum grasping force,improving safety during object handling.

关 键 词：仿人机械手 PID控制 天牛须算法 抓取控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]