基于改进遗传算法的电液伺服系统轨迹控制

为了提高挖掘机器人电液伺服系统的轨迹精度,首先,建立挖掘机器人电液伺服系统模型;其次,对遗传算法的种群、适应度函数、交叉概率和变异概率进行改进,设计改进遗传算法的PID控制器,在联合仿真平台上进行了仿真研究,用阶跃和斜坡信号评估控制器性能;最后,搭建挖掘机器人轨迹控制实验平台,采用对挖掘机器人精度要求较高的斜坡作业验证控制器性能。结果表明:相比较于传统的PID控制器和经典遗传算法优化的PID控制器,改进遗传算法优化的PID控制器调整时间短,响应快速,实际动作控制时轨迹跟踪误差最小,可用在挖掘机器人实际轨迹控制中。

Trajectory Control of Electro-hydraulic Servo Systems Based on an Improved Genetic Algorithm

In order to improve the trajectory accuracy of the robotic excavator electro-hydraulic servo systems, firstly, the mechanism models of the electro-hydraulic servo systems are established. Secondly, the population, fitness function, crossover and mutation probabilities of the genetic algorithm are improved. Simulations are carried out on a co-simulation platform, and the performances of the proposed controller are evaluated with step and ramp signals. Finally, an experimental platform for the trajectory control of the robotic excavator is built, and the performances of the proposed controller is verified by ramp operations with high accuracy. The results show that: compared with the traditional PID and the PID optimized by the classical genetic algorithm, the PID controller optimized by the improved genetic algorithm has shorter adjustment time, fast response, and the smallest trajectory tracking error, which can be used in actual conditions.