摘要
由于水下机械手液压控制系统存在较大程度的非线性、参数不确定性及负载干扰等特点,常规控制策略难以满足系统性能要求。针对上述问题,提出一种基于改进萤火虫算法(IFA)的优化的比例-积分-微分(PID)控制方法。设计了水下机械手的液压控制系统,建立了液压系统的数学模型,并设计了基于改进萤火虫算法优化的PID控制器实现对液压关节的控制。为了评估所提方法的控制性能,在MATLAB/Simulink环境下对机械手关节液压控制系统模型进行仿真实验。实验结果表明基于改进萤火虫算法优化的PID控制具有较好的控制性能,其具有超调量小、调节时间短、鲁棒性好等特点,显示了此方法可在水下机械手液压控制系统中广泛应用。
Due to the characteristics of non-linearity,parameter variation and load disturbance for the underwater manipulator hydraulic control system,it is difficult for ordinary control methods to completely meet the performance requirements. To solve the above-mentioned problem,the paper proposed an improved firefly algorithm( IFA) to optimize the proportional-integral-derivative( PID) controller. The hydraulic control system of the underwater manipulator was designed,the mathematical model of the hydraulic system was developed and the IFA optimized PID controller was designed to control the hydraulic joints. To evaluate the control performance of the proposed method,the simulation experiments of hydraulic control system model for the manipulator joint were performed under the MATLAB/Simulink environment. The results show that theproposed method has satisfied control effects with the advantages of less overshoot,short settle time and good robustness. The proposed method can be widely used in the hydraulic control system of the underwater manipulator.
出处
《机电一体化》
2018年第10期35-42,共8页
Mechatronics
基金
国家重点研发计划课题(2017YFC0307004)
内蒙古自治区科技重大专项
