Abstract
Particle swarm optimization (PSO) is a widely used method that can provide good parameters for the motion controller of mobile robots. In this paper, an improved PSO algorithm that optimize the control PID parameters of a specific robot have been proposed. This paper first presents a brief review of recently proposed PSO methods, and then presents a detailed analysis of the PID optimization algorithm, which uses H∞ theory to reduce the search space and fuses the information entropy to ensure the diversity of particles. Simulations in Matlab show that the algorithm can improve the convergence speed and get a better global optimization ability than the standard PSO algorithm. Experimental results present a sound effects for the control of the negative pressure adsorption motor in the power grid pipeline robot during its adsorption along the circular movements, which verifies the effectiveness of the proposed method.
Highlights
When adsorption robots carry out circular movement along the inner wall of the electric power pipeline [1], it is necessary to adjust the parameters of the adsorption motor in real time, so as to control the appropriate adsorption force, the robot can stably adsorb on each position of the inner wall of the pipeline under the composite action of gravity and suction [2]
In this paper, aiming at the problem that the pipeline robot moves along the pipeline due to poor control of the negative pressure adsorption motor, a PID control algorithm based on an improved particle swarm algorithm (PSO) is proposed to solve the problem of robot movement along the pipe wall
In section “The basic idea of improved particle swarm optimization algorithm”, we introduce the basic idea of improved PSO algorithm
Summary
When adsorption robots carry out circular movement along the inner wall of the electric power pipeline [1], it is necessary to adjust the parameters of the adsorption motor in real time, so as to control the appropriate adsorption force, the robot can stably adsorb on each position of the inner wall of the pipeline under the composite action of gravity and suction [2]. The robot often appears adsorption instability or motion jam, due to the time delay of control parameters [3]. This problem of the control system is mainly due to the delay between the feedback and the system output. For the classical PID control algorithm used for the adsorption motor, the main problem is the optimization of key parameters, whose quality directly affects the performance of the system, and even leads to the divergence and oscillation of the control system [4]. The parameter optimization of the controller plays an important role for this kind of time-delay system [5], and the high-. The PSO PID control algorithm proposed in reference [11] has a good control effect on the process control with large time delay
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