蚁群算法优化PID的机器人位置伺服控制

Ant colony algorithm optimizes PID robot position servo control

针对机器人位置伺服系统在干扰环境下控制性能较差的问题,设计了蚁群算法优化PID的机器人位置伺服控制方法。选取三相直流无刷电机作为机器人位置伺服的驱动系统,利用包括速度环和位置环两部分的双闭环伺服控制系统控制机器人位置,选取增量式PID控制器校正速度环公式,利用蚁群算法获取增量式PID控制器的控制参数最优值,改进机器人控制参数的调节,实现蚁群算法优化PID的机器人位置伺服控制。实验结果表明,该方法的控制机器人位置伺服系统机器人实际位置与期望位置极为接近,系统超调量低于5%,扰动调节时间低于40 ms。

Aiming at the problem of poor control performance of robot position servo system in interference environment, a robot position servo control method based on Ant Colony Optimization PID is designed. The three-phase brushless DC motor is selected as the driving system of robot position servo. The robot position is controlled by the double closed-loop servo control system including speed loop and position loop. The incremental PID controller is selected to correct the speed loop formula. The ant colony algorithm is used to obtain the optimal control parameters of the incremental PID controller. The adjustment of robot control parameters is improved and the ant colony algorithm is realized Position servo control of robot based on PID optimization. The experimental results show that the actual position of the robot is very close to the desired position, the overshoot of the system is less than 5%, and the disturbance adjustment time is less than 40 ms.