用IGA优化的直流电机的仿人智能控制

摘要

The paper discusses the characteristic of the robot motion control algorithm, which has important influence to the road-holding of robot. After analyzing the mathematical model and control system, the human-simulated intelligent control (HSIC) is applied to the robot DC-motor motion control system. Improved Genetic Algorithm(IGA) is used to optimize the parameters for HSIC.Compared with PID controller, the HSIC controller has more effective control on motor, improves the performance of robot.%讨论了当前足球机器人运动控制系统的控制算法对足球机器人运动性能的影响.在分析了足球机器人运动控制系统组成和电机数学模型的基础上,对足球机器人运动控制器采用多模态控制的仿人智能控制(Human-Simulated Intelligent Control,HSIC)算法,利用改进的遗传算法(Improved Genetic Algorithm,IGA)对仿人智能控制器参数进行优化.通过与目前普遍采用的常规PID控制器作对比实验,表明采用IGA参数整定后的HSIC控制器对电机具有更好的控制品质,并改善了足球机器人的运动性能.