一种基于细菌觅食算法的机械手臂控制器设计

Design of Controller for Robot Manipulators Using Bacterial Foraging Optimization Algorithm

针对机械臂控制系统需可靠、快速、准确跟踪设定值轨迹的要求,通过研究机械臂控制系统的非线性动力学模型,提出1种基于细菌觅食优化算法(BFO)优化PID控制器参数的控制方案。设计采用细菌觅食算法求解在线优化PID参数的流程,用于机器人手臂的跟踪控制。为更有效地考察机械手臂系统的跟踪控制性能,设定2个关节的期望轨迹分别为正弦和余弦函数。仿真结果表明,与传统PID方法相比,基于BFO算法优化的控制方案具有更优越的控制品质和较强的抑制干扰能力,能有效提高机械臂跟踪控制的快速性和准确性。

To meet the requirements of reliability,high-speed and tracking set point trajectory accurately,by means of examining nonlinear dynamics model of the robot control system and analyzing the strong coupling,we proposed a control scheme based on bacterial foraging optimization （BFO） which is designed to optimize the detailed process of PID parameters online,which is new application for tracking the control of robot manipulators.In order to investigate the tracking control performance of robot manipulators system effectively,the desired trajectory of the two joints are set to the sine and cosine functions.The simulation results show that BFO algorithm has better control quality and stronger anti-jamming capability.And it can effectively improve the speed and accuracy of manipulator tracking control compared with the traditional PID method.