基于改进PID控制的柔性执行机构跟踪误差仿真

针对柔性执行机构运动参数输出值与期望值存在较大误差的问题,对柔性执行机构驱动过程中产生的压力、电流、角速度和角位移等进行研究。分析柔性执行机构运动原理,推导柔性执行机构驱动的微分方程式。引用PID控制系统,提出遗传算法与粒子群算法相结合的优化方法。采用混合算法优化柔性执行机构的PID控制系统,给出改进PID控制系统柔性执行机构的流程图。利用MATLAB软件对优化后的控制系统进行仿真,并与PID控制系统输出结果进行对比和分析。结果表明:优化后的系统能够在线调节柔性执行机构的各项控制参数,提高柔性执行机构压力和角位移跟踪精度,系统自适应调节速度快、稳定性好。

Tracking Error Simulation of Flexible Actuator Based on Improved PID Control

In view of the large error between the output value and the expected value of the motion parameters of the flexible actuator, the pressure, current, angular velocity and angular displacement produced in the driving process of the flexible actuator were studied. The motion principle of the flexible actuator was analyzed, the differential equation of the driving of the flexible actuator was derived. PID control system was quoted, and an optimization method combined genetic algorithm with particle swarm optimization was proposed. Hybrid algorithm was used to optimize the PID control system of the flexible actuator, and the flow chart of the flexible actuator with the improved PID control system was given. MATLAB software was used to simulate the optimized control system, and the output results were compared and analyzed with the PID control system. The research results show that the system can adjust the control parameters of the flexible actuator on-line, improve the tracking accuracy of the pressure and angular displacement of the flexible actuator, and the system has fast adaptive adjustment speed and good stability.