一种基于PSO-PID算法的分布式机器人实时控制

Distributed Robot Realtime Control Based on Particle Swarm Optimization PID Algorithm

分析了粒子群优化(PSO)算法的原理、算法参数及其对算法性能的影响。以PSO算法为基础,提出了一种新的粒子群优化不完全微分PID算法。根据多关节机器人系统的特点,介绍了一种新的分布式机器人实时控制系统。系统采用双速率控制策略和分布式控制方式,机器人运动控制运用粒子群优化算法定时寻优PID参数,使其随着系统参数的变化而实时更新,实现最优不完全微分PID控制。实验结果表明,该系统设计科学、性能优越,新算法寻优能力强、控制效果好。

This paper analyzes the principle, parameters of particle swarm optimization （PSO） algorithm, and their influence on optimization performance of PSO. Based on PSO, a new PID control method with incomplete derivation based on particle swarm optimization algorithm is proposed. By the characteristic of many joints robot system, a new distributed robot realtime control system is presented. Twain velocity control strategy and distributed control mode are adopted, the parameters of PID control is optimized by particle swarm optimization algorithm in the motion control of robot, makes it realtime update with change of system＇s parameters, implements the optimal PID＇control with incomplete derivation. The experimental results show that the design of system is scientific, performance is predominant, the optimization competence of new algorithm is finer, and the effect of control is good.