| 基于遗传算法的煤矿凿岩机器人模糊控制 |
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| 引用本文： | 巩学军,杨玉岗.基于遗传算法的煤矿凿岩机器人模糊控制[J].黑龙江科技学院学报,2006,16(4):234-236,240. |
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| 作者姓名： | 巩学军 杨玉岗 |
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| 作者单位： | 辽宁工程技术大学,电气工程系,辽宁,阜新,123000 |
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| 摘 要： | 为了提高机械臂的定位精度,针对电液比例位置控制存在的实变、非线性、不确定等特点,提出了基于模糊控制的控制策略,采用遗传算法(GA)对模糊规则进行优化,并将优化后的控制器应用于钻臂控制系统.仿真结果表明:与传统PID控制器相比,优化后的控制器极大地改善了控制系统,使系统输出超调明显减小,实现钻臂的精确定位.
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| 关 键 词： | 电液比例控制 模糊控制 遗传算法 机器人 |
| 文章编号： | 1671-0118（2006）04-0234-03 |
| 收稿时间： | 2006-05-16 |
| 修稿时间： | 2006-05-16 |
Fuzzy control of mine rocking robot based on GA |
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| GONG Xuejun,YANG Yugang.Fuzzy control of mine rocking robot based on GA[J].Journal of Heilongjiang Institute of Science and Technology,2006,16(4):234-236,240. |
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| Authors: | GONG Xuejun YANG Yugang |
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| Institution: | Department of Electrical Engineering, Liaoning Technical University, Fuxin 123000, China |
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| Abstract: | In order to enhance the precision of drilling boom location,according to the characteristics of electro-hydraulic positional system such as payload variations,high nonlinear,uncertainties and so on,the paper proposes a strategy based on fuzzy control algorithm,using the GA optimized the fuzzy rules.The optimized fuzzy controller was applied to the drilling boom control system.The simulation results demonstrate: compared with the traditional PID controller,the optimized controller can improve the control system greatly,and minimize the overshoot of system output,and realize the precise location of drilling boom. |
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| Keywords: | electro-hydraulic proportional control system fuzzy control genetic algorithm robot |
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