基于遗传算法的煤矿凿岩机器人模糊控制

Fuzzy control of mine rocking robot based on GA

为了提高机械臂的定位精度,针对电液比例位置控制存在的实变、非线性、不确定等特点,提出了基于模糊控制的控制策略,采用遗传算法(GA)对模糊规则进行优化,并将优化后的控制器应用于钻臂控制系统。仿真结果表明:与传统PID控制器相比,优化后的控制器极大地改善了控制系统,使系统输出超调明显减小,实现钻臂的精确定位。

In order to enhance the precision of drilling boom location, according to the characteristics of electro-hydraulic positional system such as payload variations, high nonlinear, uncertainties and so on, the paper proposes a strategy based on fuzzy control algorithm, using the GA optimized the fuzzy rules. The optimized fuzzy controller was applied to the drilling boom control system. The simulation results demonstrate： compared with the traditional PID controller, the optimized controller can improve the control system greatly, and minimize the overshoot of system output, and realize the precise location of drilling boom.