基于PSO算法的串联机械手位置跟踪模糊PID控制

在串联机械手运动控制中常采用PID控制器,存在超调较大、跟踪精度低的问题,为此设计了一种基于微粒群(PSO)算法的模糊PID控制器。首先,根据两力臂串联机械手模型,推算出动力学方程式和传递函数;然后,设计控制器的系统结构,采用PSO算法优化模糊PID控制参数,提高了系统的自适应能力和跟踪精度;最后,在MATLAB中对机械手位置跟踪控制进行仿真。仿真结果显示:PID控制超调较大,有震荡;经模糊调整后,超调变小,稳定性较好;再通过PSO优化,响应速度变快,超调量基本消除。

Fuzzy PID control for position tracking of series manipulator based on the PSO algorithm

The PID controller is often used in the motion control of series manipulator, which has the problems of large overshoot and low tracking accuracy. Based on this, a fuzzy PID controller based on particle swarm optimization (PSO) algorithm is designed. First of all, the dynamic equation and transfer function were deduced based on the model of serial manipulator with two arms. Secondly, the system structure of the controller was designed, and the PSO algorithm was used to optimize the control parameters of fuzzy PID controller, which improved the adaptive ability and tracking precision of the system. Finally, the tracking and control of manipulator position were simulated by the MATLAB. The simulation results show that the PID controller has certain oscillation and large overshoot. After fuzzy adjustment, the overshoot becomes small and the stability is better; on this basis, the response speed gets faster, and the overshoot is basically eliminated through PSO optimization.