Design of Paint-spraying Robot PID Controller Based on Hybrid Chaos and Complex Optimal Algorithm
This paper utilities a new method to achieve the best control of paint-spraying robot. It includes: virtual prototype technology was utilized to optimize the structure of the robot, and a hybrid chaos and complex optimal algorithm was used to obtain the PID gains. The inertial and effective inertial of the robot arms were calculated by software UG NX2, the static analysis and the dynamic have been done by ANSYS10.0, and the structural resonance were also obtained, which the robot control must subject to. According to the structure of the robot individual-joint, the mathematic model was built and the control solution was proposed. The hybrid algorithm was discussed in detail. Based on chaos search, the relative optimal PID gains were obtained, and by using complex method, the search accuracy was enhanced and the search time was shortened. The hybrid optimal algorithm realized the combination of global search and local search. Simulation results have shown that the control system has the advantages of stability, fast response, not overshoot, and short setting-time.
paint-spraying robot chaos complex proportional-integral-derivative (PID) controller optimal algorithm
HUANG Chenhua XIE Cunxi ZHANG Tie DUAN Fuhai
School of Mechanical Engineering, South China University of Technology, Guangzhou, 510640;School of School of Mechanical Engineering, South China University of Technology, Guangzhou, 510640
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）