基于蚁群算法的智能人工腿最优PID控制器设计  

Design of ant algorithm-based optimal PID controller and its application to intelligent artificial leg

作　　者：谭冠政[1] 李文斌[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《中南大学学报（自然科学版）》2004年第1期91-96,共6页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(50275150);中国科学院机器人学开放研究实验室基金资助项目(RL200002)

摘　　要：以蚁群系统和蚁群算法为基础,提出了一种新的具有不完全微分的最优PID控制器的设计方法。该控制器以系统单位阶跃响应的超调量σ、上升时间tr以及调整时间ts为性能指标,针对给定的控制对象,利用所建立的蚁群算法搜索出一组最优PID参数K i及T d,作为实时控制中PID控制器的参数。该控制器被用于控制智能p,T 仿生人工腿中的执行电机。计算机仿真结果表明,与传统的PID控制器相比,这种基于蚁群算法的最优PID控制器具有良好的动态和稳态性能,可用于控制多种不同的对象和过程。A new designing method for the optimal PID controller with incomplete derivation is proposed based on ant system and ant algorithm. In this method, for a given system, by taking the overshoot σ, rise time t_r, and setting time t_s of the system′s unit step response as the controller′s performance indexes and by means of the ant algorithm developed by the authors, a group of optimal PID parameters K~*_p, T~*_i and T~*_d are obtained, which are used as the parameters of the PID controller in real-time control. This kind of controller has been used to control the motor of the intelligent bionic artificial leg designed by the authors. The results of computer simulation show that this controller is better than the conventional PID controllers in the dynamic behavior of system response. This kind of PID controller possesses dynamic controlling and robust performance, and can be used to control many different kinds of objects and processes.

关 键 词：蚁群算法 最优PID控制器 控制器设计 智能仿生人工腿 蚁群系统 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]