采用混合算法优化的液压驱动机械手PID控制仿真研究

Simulation research on PID control of hydraulic drive manipulator optimized byhybrid algorithm

液压驱动机械手运动位移跟踪容易受到外界因素的干扰,导致输出精度较低.对此,创建了液压驱动机械手简图模型,给出了阀控液压缸示意图,推导出液压缸流量方程式.设计了液压驱动机械手PID控制方法,引用粒子群算法混合遗传算法优化PID控制.采用Matlab软件对优化PID控制效果进行仿真,输出液压驱动机械手位移跟踪仿真曲线.仿真曲线表明:在无波形干扰环境条件下,优化PID控制和PID控制都能快速地实现机械手位移跟踪;在有正弦波干扰环境条件下,采用优化后的PID控制,不仅反应速度快,而且输出误差较小.液压驱动机械手采用混合算法优化PID控制,能够抑制外界波形的干扰,有利于提高机械手运动精度.

Motion displacement tracking of hydraulic driven manipulator is easily interfered by external factors,resulting in low output accuracy.In this regard,this paper creates a sketch model of the hydraulic driving manipulator,gives the schematic diagram of the valve controlled hydraulic cylinder,and deduce the flow equation of the hydraulic cylinder.The PID control method of hydraulic driving manipulator is designed,and particle swarm optimization and hybrid genetic algorithm are used to optimize PID control.Matlab software is used to simulate the effect of optimizing PID control,and output the simulation curve of hydraulic drive manipulator displacement tracking.The simulation curve shows that the optimized PID control and PID control can quickly realize the manipulator displacement tracking under the condition of non waveform interference.Under the sine wave interference environment,the optimized PID control is not only fast,but also the output error is small.Hydraulic driving manipulator adopts hybrid algorithm to optimize PID control,which can restrain the disturbance of external waveform and improve the motion accuracy of manipulator.