PID Controller Optimization of Mobile Robot Servo System

摘要：

The device driver control of wheeled mobile robot is based on the PID control of kinetic model. In this paper, to improve the systems overall robustness and the accuracy of control, the wheeled mobile robots servo drive system is identified by the BP neural network of series-parallel identification structure, and the PID controller parameter is optimized by the genetic algorithm based on the afore identification result. Thereby the global parameter optimization is achieved. Finally, the algorithm is applied in device driver control of the actual robot to prove that the method can effectively improve stableness and accuracy of the speed control, and the optimization problem of the drive servo PID controller of wheeled mobile is solved. And it will provide technical support of the future research of accurate motion in the industrial and agricultural field.

关键词： Wheeled mobile robot Servo drive System PID controller Genetic Algorithm Neural network

作者: DU Yan-hong WEI Yong Shan Hui-Yong Liu Hua

作者单位: Department of Electromechanical Engineering Tianjin Agricultural University Tianjin, China

会议类型: 国际会议

会议名称: 2011 IEEE 2nd International Conference on Computing，Control and Industrial Engineering(CCIE 2011)(第二届计算、控制与工业工程国际会议)

会议地点: 武汉

会议语种:英文

页码: 235-237

在线出版日期: 2011-08-20（万方平台首次上网日期，不代表论文的发表时间）