基于蜂群算法的精密运动控制方法

Precision motion control method based on bee colony algorithm

针对在精密运动控制系统中,传统PID控制器的控制精度不够,控制参数不能随着负载、环境的变化而变化这一问题,将蜂群算法与传统PID控制相结合,提出了蜂群PID控制方法,并应用在微位移控制系统中,通过精密运动控制阶跃响应性能分析,仿真出调节时间、稳态误差、目标函数、适应度函数等参数的变化曲线.结果表明,蜂群PID控制算法可使精密运动控制系统拥有更快的响应速度、更高的定位精度,并且其参数可实现自动寻优,验证了蜂群PID控制算法在精密运动领域的可行性.

Aiming at the problem that in the precision motion control system, the control accuracy of traditional PID controller is not enough and the control parameters can＇t vary with both load and environment, the bees PID control method was proposed and applied in the micro-displacement control system by combining the bee colony algorithm with the traditional PID control. Through the performance analysis for the step response in the precision motion control, the change curves for such parameters as adjust time, steady-state error, target function and fitness function were simulated. The results show that the bee colony PID control algorithm makes the precision motion control system have faster response speed and higher positioning accuracy, and the automatic optimum searching for the parameters can be realized. Moreover, the feasibility of bee colony PID control algorithm in the precision motion field is verified.