上下料机械手的自适应遗传算法PID参数整定

摘要

Loading and unloading auxiliary manipulators for punching can replace manual work,safeguard personal safety and enhance enterprise's competitiveness.Adaptive genetic algorithm was used to optimize the control parameters of the speed control loop and position control loop of the motor servo system of loading and unloading manipulators,and the tuning results were compared with those optimized by simple genetic algorithm.Then the rapid,accuracy and steady optimized results are obtained.%压力机的上下料机械手能代替人工进行重复作业,不仅保障人身安全,同时提高企业的竞争力.重点介绍基于自适应遗传算法的上下料机械手电机伺服系统的速度控制环、位置控制环的多个控制参数优化整定,并与简单遗传算法得到的整定结果进行比较,从而得到快速、准确、稳定的理想优化结果.