膜计算优化PID控制在煤炭分拣机器人中的应用

在传统煤炭分拣机器人的分拣过程中,由于时变负载的非线性变化经常引起速度的波动,严重影响了系统的控制性能,降低了机械手操作的精确性和快速性。论文设计了一种基于模糊星形拓扑结构的膜计算优化算法(FST-MC算法)优化的PID自整定系统,将PID的三个控制参数编码成FST-MC算法优化的对象,经过换位、交流、交叉和改写这四个规则处理后得到理想的优化值。最后,进行了仿真实验,实验结果验证了本系统响应速度快、有着很好的动态跟随性能和很高的控制精度,在煤炭分拣机器人系统中有着很好的应用前景。

Application of PID Control on Coal Sorting Robot System Optimized by Membrane Computing

In sorting process of using traditional coal sorting robot, the time-varying load non-linear changes cause fluctuations in speed frequently. Such fluctuations affect the performance of the systematic control seriously, and reduce mechanical arm operating accuracy and rapidity. This paper presents the fuzzy star topology-membrane computing algorithm (FST-MC algorithm) to optimize PID self-tuning system which encodes three control parameters of PID to transform into optimized objects, and obtains ideal optimal values through empathy, communication, cross and rewrite. Finally, it carries out a simulation experiment, the experimental results demonstrate the proposed system in this paper has the advantage of fast response, high control accuracy and robustness performance, so it has a very good application prospect in coal sorting robot system.