基于PSO自整定PID控制器的柔性臂振动控制

Vibration Control of Flexible Manipulator Based on Self-Tuning PID Controller by PSO

针对压电柔性机械臂运行过程中的弹性振动问题,提出了基于粒子群优化算法(particle swarm optimization,简称PSO)自整定比例积分微分(proportional integral differential,简称PID)控制器参数的柔性臂振动抑制方法。采用标准粒子群优化算法,以时间乘绝对误差积(integrated time and absolute error,简称ITAE)准则为适应度函数,整定PID控制器的3个控制参数Kp,Ki和Kd,并采用Matlab Simulink平台建立双连杆压电柔性机械臂振动控制仿真模型,研制基于虚拟仪器技术的柔性臂振动控制试验系统。仿真与试验结果表明,采用常规PID控制算法和基于PSO自整定的PID控制算法均能有效地抑制柔性机械臂的弹性振动,但后者的振动抑制效果、鲁棒性与稳定性优于前者。

The self-tuning proportional integral differential(PID) controller by particle swarm optimization(PSO) is presented to suppress the vibration of the piezoelectric flexible manipulator during its operation.With the integrated time and absolute error(ITAE) criterion as the fitness function,the three parameters K_p K_i and K_d of the PID controller are adjusted using normal PSO.A Simulink model for vibration control of the two-link piezoelectric flexible manipulator is established in the Matlab Simulink program.An experimental system of flexible manipulator for vibration control is developed with virtual instrument technology.The simulation and experimental results show that both the traditional PID controller and PID controller tuned by PSO can effectively restrain the elastic vibration of the flexible manipulator,but the latter shows better inhibitory effect,robustness and stability compared with the former.