摘要
针对数控机床上下料机器人PID伺服控制器中存在的问题,在分析传统PID控制器固有缺陷的基础上,提出一种基于自适应遗传算法自由化的机器人PID控制方法。对自适应遗传算法自优化PID控制器结构原理进行设计,根据控制性能要求,构建了优化目标函数,对自适应遗传算法自优化PID控制算法进行设计和实现,最后通过仿真实验进行验证,结果表明该设计方法能够有效提高机器人控制系统的动态响应能力和跟踪性能,从而保证了该PID控制算法的可行性和有效性。
For the problem of a robot PID servo controller for CNC machine tools, a self-tuning control strategy of the robot based on adaptive genetic algorithm was proposed on the basis of the analysis of the inherent defect for the traditional PID controller. The structure principle of self-tuning PID controller for robot based on genetic algorithm was designed, and the optimization objective function was constructed according to the performance requirements. The algorithm of self-tuning PID controller based on adaptive genetic algorithm was designed and realized. Finally a simulation experiment was tested, and the results show that the design method can effectively improve the dynamic response ability and tracking precision of the control system for robot, which ensures the feasibility and effectiveness of the self-optimizing control algorithm.
出处
《自动化与仪器仪表》
2015年第6期77-79,共3页
Automation & Instrumentation
基金
国家自然科学基金资助项目(5140519)
浙江省自然科学基金项目(LQ14E050006)
嘉兴市科技计划项目(2013AY11020)
关键词
自适应控制
PID控制器
机器人控制
遗传算法
Self-optimizing control
PID controller
Rrobot control system
Genetic algorithm
