摘要
目前典型的PID控制已经不能很好地满足工业机器人的控制要求,提出了一种基于改进遗传算法在工业机器人自适应PID控制中的应用方法.首先对工业用机器人的运动进行了简单的描述,然后采用细菌共轭的思想,对常规的遗传算法进行了改进,并结合机器人PID控制,提出了自适应PID控制策略.通过仿真表明,改进的遗传算法可以使机器人自适应PID控制快速收敛到理想值,收敛的精度较高,并且对于常规的外界干扰,有一定的鲁棒性,满足机器人控制的要求.
The typical PID control has been unable to satisfy the requirements of industrial robot control at present , an application method based on an improved genetic algorithm for industrial robot control PID is proposed .First industrial robot for a simple description , then the idea of using bacterial conjugation , for conventional genetic algorithm was improved ,combined with PID control robot is proposed an adaptive PID control strategy . The simulation shows that the improved genetic algorithm can make the robot adaptive PID control rapid convergence to the desired value , the convergence of high precision , and for regular outside interference , a certain degree of robustness to meet the requirements of robot control .
出处
《微电子学与计算机》
CSCD
北大核心
2014年第7期69-72,共4页
Microelectronics & Computer
基金
国家自然科学基金项目(71173248)
