Research on Off-Line PID Control Optimization of Planar Parallel Robot
In order to make the planar parallel robot have more stable control performance in the closed loop control system.The dynamic model of planar five-bar parallel robot and its control system model are established,and the gain vector p of the con-trol system is given.The off-line PID control optimization of the robot system model is carried out,and the gain vector P in the control system is designed through the control gain,so as to realize the nonlinear single objective dynamic optimization(NLMODOP).Dynamic constraints are added to NLMODOP,and differential evolution(DE)algorithm with constraint process-ing mechanism is used to solve nonlinear programming problems of planar parallel robots,and then unstable dynamic optimi-zation is dealt with.The simulation experiment of five connecting rods in the robot model is carried out,and the simulation results with or without DE algorithm control are compared.The results show that compared with the de-free algorithm,the connecting rod tracking displacement of the robot system model using DE algorithm has basically no tracking error.It shows that the off-line PID control optimization of planar parallel robot based on differential evolution algorithm has better control accuracy and track-ing performance.
Planar Five-Bar Parallel RobotOff-Line Pid Control OptimizationNonlinear Single Objective Dy-namic OptimizationDifferential Evolutionary Algorithm
NETL
NSTL
万方数据
维普
