摘要
以差速轮式移动机器人为研究对象,考虑负载转矩的情况下,为了实现高效精确控制机器人速度和转向的功能,建立了永磁无刷直流电机的数学模型,从电机转速控制出发,设计了基于粒子群算法和蚁群优化算法的PID控制器,自动调整PID参数。结果表明,基于粒子群算法设计的控制器,完全满足设计标准,具有良好的动态和稳态性能,同时证明了该智能优化控制策略的可行性、优越性。
Taking the differential drive wheeled mobile robot as the research object, and considering the load torque. In order to achieve the high efficiency and precise control of the speed and steering of the robot, establish the mathematical model of the permanent magnet brushless DC motor and do from the motor speed control, PID controller based on particle swarm optimization algorithm and ant colony optimization is designed, which can adjust the PID parameters automatically. The results show that the controller based on particle swarm optimization algorithm completely meets the control design standards, and the system has a good dynamic and steady performance. It also proves the feasibility and superiority of the intelligent optimization control strategy.
出处
《电气工程学报》
2015年第12期21-26,共6页
Journal of Electrical Engineering
基金
国家自然科学基金资助项目(51277156
51307148)
关键词
永磁无刷直流电机
轮式移动机器人
粒子群算法
蚁群优化算法
PID
控制
Permanent magnet brushless DC motor
wheeled mobile robot
particle swarm optimization algorithm
ant colony optimization algorithm
PID controller
