基于pso算法的机械臂pid控制器参数优化-core.pdfVIP

2 No. 2 2011 2 ModularMachineTool AutomaticManufacturing Technique Feb. 2011 : 1001- 2265( 2011) 02- 0089- 04 PSO PID* 1 2 1 , , ( 1. 厦门大学信息科学与技术学院,福建厦门 361005; 2.西南交通大学 电气工程学院,成都 614202) :,PID , MATLAB/Smi ulink PSO( ) PID, 3, : , : PID; ;; : TP24 : A ParametersOptim ization ofRobotArm PI ControllersBased on PSO Algorithm 1 2 1 YU Xiao, LIU Dong, LAN W ei-yao ( 1. College of Information Science andTechnology, Xiamen University, X iamen Fujian 361005, China; 2. College ofElectricalEngineering, Southwest JiaotongUniversity, Chengdu 614202, China) Abstract: The robot arm always runs in a complex condition, and the demand for its state response perform- ance index is high. PID control is restricted to the complicacy and the inexactitude of robot arm smathemat- icsmodel, which leads the classicalparameters tuningmethods to themaladjustment and the suboptmi alper- formance in realoperating. And the PSO algorithm is presented and applied to optmi izePID parameters in ro- bot arm based onMATLAB/Smi ulink. According to the smi ulation of a stretchingmovement in a 3-joint-robot arm, the numericalsmi ulation show sthat by thismethod thesetting tmi e and overshootof every joint in the ro- bot arm present optmi ized distinctly. Key words: PID control; parameters optmi ization; PSO algorithm; robot arm 0 , PID PID,, , , Ziegler- , [2] Nichols PID PID [3-4]