基于遗传算法整定的空间机械臂控制方法

Control Strategy for Space Manipulator Based on Genetic Algorithm Self-Tuning

针对空间机械臂关节角度控制时中存在的精度较低、建模误差较大等问题,采用遗传算法对PID参数进行整定的空间机械臂控制算法,可以有效地提高了关节角度控制的精度。仿真结果表明,使用遗传算法PID参数的整定算法,对空间机械臂关节角度具有较好控制性能,并且克服了传统PID调整参数困难的缺点。

For question of joint angle control of space manipulator,a method based on genetic algorithm PID self-tuning is proposed,which can improve the control accuracy of joint angle. The result shows that the control performance of the space manipulator is improved,and the difficulties of traditional PID parameter regulation can be avoided by this method.