Research on PID Control Simulation of Mobile Robot Differential Evolution
A parallel PID control strategy for a two-wheel differential chassis is proposed in this article.Based on the proposed compensation tracker,the differential evolution algorithm is used to search for the optimal PID parameters to quickly and accu-rately control the chassis trajectory tracking motion.Firstly,a mathematical model of the two-wheel differential chassis is estab-lished.Aiming at the unknown nonlinear part,the compensation tracker is used to observe the unknown part.Then,based on the differential evolution algorithm to search for the optimal PID parameters,the position and rotation angle of the chassis are con-trolled by two parallel PID controllers at the same time to complete the tracking of the given trajectory.Through the simulation analysis of the controller,the optimal PID parameters are obtained by the differential evolution algorithm,and the position step response time in the x and y directions are 0.339sand 0.312s,and the steady-state errors are 0.0018m and 0.0013m,respective-ly.The angular sinusoidal response has an average error of 0.045rad.Finally,the random trajectory is tracked and simulated,and the results show that the chassis can track the trajectory accurately and quickly,and the control strategy can improve the sys-tem performance and has good tracking performance.
NETL
NSTL
万方数据
