无人餐厅中全向机器人在架空轨道上从水平面运动到斜坡θ过程中,作用在麦克纳姆轮垂直方向的重力发生变化,破坏运动系统的稳定性,针对该运动过程系统稳定性差,稳定调整时间长等问题,提出采用遗传算法与PID控制相结合的方法对运动系统进行优化.本文构建全向机器人在斜坡过度中运动系统的数学模型,定值θ为扰动量,通过分析系统函数特征根在[s]复平面内的位置判定系统收敛性.采用改进遗传算法对PID控制器参数进行优化,研究系统稳定响应状态下的最优目标函数和最佳适应度变化趋势,获得Kp、Ti和Td参数.通过MATLAB/Simulink仿真结果表明,遗传算法与PID相结合的控制方法在迭代 2 次就获得最优控制目标函数,有效抑制了稳态误差,缩短稳定调整时间,提高了运输效率,对后续研究变值θ扰动的自动校正提供了一定参考价值.
When the omnidirectional robot in the unmanned restaurant moves from the horizontal plane to the slope θ on the overhead track,the gravity acting on the vertical direction of the Mecanum wheel changes,which destroys the stability of the motion system.In view of the poor stability of the system during the motion process,stable adjustment To solve the problem of long time,a method combining genetic algorithm and PID control is proposed to optimize the motion system.In this paper,the mathematical model of the motion system of the omnidirectional robot in the transition of the slope is constructed,and the fixed value θ is the disturbance amount,and the convergence of the system is determined by analyzing the position of the characteristic root of the system function in the[s]complex plane.The improved genetic algorithm is used to optimize the parameters of the PID controller,and the optimal objective function and the changing trend of the optimal fitness under the stable response state of the system are studied,and the Kp,Ti and Td parameters are obtained.The MATLAB/Simulink simulation results show that the control method combining genetic algorithm and PID can obtain the optimal control objective function in 2 iterations,which can effectively suppress steady-state error,shorten steady-state adjustment time,and improve transportation efficiency.The automatic correction of the perturbation of the value θ provides a certain reference value.