摘要
针对工业机器人进行接触式打磨作业时打磨工具与工件的打磨力的要求,提出了一种基于改进粒子群算法(particle swarm optimization, PSO)的模糊PID控制的打磨末端执行器控制方法。通过结合改进PSO算法,智能优化整定传统PID控制器的控制参数K;、K;、K;初值,再通过模糊控制器在线调整PID参数。采用MATLAB/Simulink组件建立基于改进PSO的模糊PID控制系统仿真模型。最后,搭建基于Codesys的力控打磨末端执行器实验平台,对打磨末端执行器输出的打磨力进行实验验证。仿真和实验结果表明,通过基于改进粒子群算法的模糊PID控制可实现对打磨末端执行器的控制,具有较好的控制精度以及稳定性。
In order to meet the requirements of grinding force of grinding tools and workpieces in contact grinding of industrial robots, a control method of grinding end-effector based on fuzzy PID control based on improved particle swarm optimization(PSO) was proposed.Combined with the improved PSO algorithm, the control parameters of traditional PID controller K;,K;and K;are intelligentially optimized and adjusted, and then the PID parameters are adjusted online by the fuzzy controller.The simulation model of fuzzy PID control system based on improved PSO is established by MATLAB/Simulink component.Finally, the experimental platform of force control grinding end-effector based on Codesys is built, and the grinding force output of grinding end-effector is verified experimentally. The simulation and experimental results show that the fuzzy PID control based on the improved particle swarm optimization algorithm can realize the control of the grinding end-effector, which has better control precision and stability.
作者
周子杰
欧道江
周学成
陶建华
ZHOU Zi-jie;OU Dao-jiang;ZHOU Xue-cheng;TAO Jian-hua(School of Mechanical and Electrical Engineering,Guangzhou University,Guangzhou 510006,China;Foshan Institute of Intelligent Equipment Technology,Foshan 528234,China)
出处
《组合机床与自动化加工技术》
北大核心
2022年第4期57-61,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
广东省重点领域研发计划项目(2019B090919001)
广东省2020年省科技专项资金(“大专项+任务清单”)项目(2020001004588)。
