模糊免疫算法的轮式移动机器人PID控制优化设计

Research on PID control optimization of wheeled mobile robot based on fuzzy immune algorithm

PID控制技术是轮式移动机器人的自适应控制方案中的主要控制方法,这种方法存在一定的不足,如在系统响应速度无法满足机器人的实时控制需求时,调控精细度相对欠缺,因此,必须加以改进。建立轮式移动机器人运动学模型,将模糊机制、免疫算法相结合,用于对机器人控制的PID参数优化,采用误差绝对值时间积分性能为参考指标,设定系统的适应度函数,对该算法进行仿真,结果证明该算法明显提高了PID控制精度和响应速度。

At present, the PID control technology is the main control method in the adaptive control scheme of the wheeled mobile robot. There are some deficiencies in this method. For example, the system response speed cannot meet the demand of robot for real-time control in many industrial production situations, and its control precision also needs to be optimized. So, the kinematics model of wheeled mobile robot is established, and then the PID parameters are optimized by the intelligent PID parameter turning technology, which combined fuzzy mechanism and immune algorithm. In the simulation experiment, the performance index for the integral of time weighted absolute error is used as the objective function. The results show the validity and reliability of the algorithm.