基于PSO算法的机械臂PID控制器参数优化

Parameters Optimization of Robot Arm PID Controllers Based on PSO Algorithm

机械臂的工作环境复杂,对其工作的响应指标要求较高。PID控制受限于机械臂的数学模型的复杂性与不精确性,导致经典的参数整定方法在实际生产中适应性不良或性能欠佳。文章基于MATLAB/Simulink将PSO算法(粒子群优化算法)用于机械臂PID控制器的参数优化中,通过对3关节连杆机械臂单次拉伸动作的建模仿真研究,结果表明:使用此方法后,机械臂各关节响应的调节时间和超调量都得到明显的优化。

The robot arm always runs in a complex condition,and the demand for its state response performance index is high.PID control is restricted to the complicacy and the inexactitude of robot arm＇s mathematics model,which leads the classical parameters tuning methods to the maladjustment and the suboptimal performance in real operating.And the PSO algorithm is presented and applied to optimize PID parameters in robot arm based on MATLAB/Simulink.According to the simulation of a stretching movement in a 3-joint-robot arm,the numerical simulation shows that by this method the setting time and overshoot of every joint in the robot arm present optimized distinctly.