摘要
针对一款工业机器人直线滑台定位精度不高、易发生振动等问题,基于AMESim仿真技术为该系统设计了PID控制器并基于遗传算法对控制器参数加以优化。经过时域和频域仿真分析检验,优化后的直线滑台定位精度、响应速度都有显著提升并具有足够的稳定裕度,实现了系统综合性能的优化。
Aiming at the problem that the positioning accuracy of an industrial robot linear sliding table is insufficient and vibration is prone to occur, the PID is designed based on simulation analysis by AMESim software to solve this problem. The parameters of the PID controller are optimized based on genetic algorithm. Through the simulation analysis in time domain and frequency domain, positioning accuracy and response speed of the linear sliding table are improved significantly, and the stability margin is sufficient. So the comprehensive performance of the system is optimized.
作者
鲍仲辅
曾德江
陈梓龙
BAO Zhong-fu;ZENG De-jiang;CHEN Zi-long(Guangdong Mechanical & Electrical Polytechnic,Guangzhou510515,China)
出处
《液压气动与密封》
2019年第5期54-58,共5页
Hydraulics Pneumatics & Seals
基金
广东省高职教育品牌专业建设项目(2016gzpp039)
广东机电职业技术学院自然科学项目(YJL2017-05)
关键词
泵控马达
PID控制器
遗传算法
优化设计
pump-control-hydraulic-motor
PID controller
genetic algorithm
optimal design
