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A method for optimizing pid parameters and a device for optimizing pid parameters

A parameter and data technology, applied in the field of robot control, can solve problems such as unguaranteed control performance and large demand

Active Publication Date: 2021-07-13
北京深度奇点科技有限公司
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Problems solved by technology

At present, the adjustment of the PID parameters of most domestic manipulators is still manually adjusted according to experience. Manually adjusting the PID parameters under different motion trajectories of the manipulator consumes a lot of manpower and material resources, and the manually adjusted PID controller parameters cannot guarantee optimal control performance. , so there is a great demand for functional products that realize efficient and stable automatic adjustment of PID controller parameters

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  • A method for optimizing pid parameters and a device for optimizing pid parameters
  • A method for optimizing pid parameters and a device for optimizing pid parameters
  • A method for optimizing pid parameters and a device for optimizing pid parameters

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[0058] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be described in detail below. Apparently, the described embodiments are only some of the embodiments of this application, not all of them. Based on the embodiments in the present application, all other implementation manners obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present application.

[0059] figure 1 A schematic flow chart of the optimization method of the PID parameters provided by an embodiment of the present application, such as figure 1 Shown, the optimization method of this PID parameter comprises the following steps:

[0060] Step S101, evaluating the movement quality of the mechanical arm;

[0061]Step S102, learning the evaluation of the movement quality of the mechanical arm through the neural network, and obtaining a regression mo...

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Abstract

The present application relates to a PID parameter optimization method and a PID parameter optimization device, belonging to the field of robot controllers. This application evaluates the movement quality of the manipulator; learns the assessment of the movement quality of the manipulator through the neural network, and obtains a regression model; uses a greedy algorithm to obtain PID parameters from the regression model to provide the controller to control the operation of the manipulator . The greedy algorithm can realize continuous sampling from the regression model until the optimal PID parameters are obtained, which can be provided to the controller for execution, which can effectively solve the problem of automatic optimization of the controller's PID parameters, and then realize the improvement of the optimization of the controller's PID parameters .

Description

technical field [0001] The application belongs to the field of robot control, and in particular relates to a PID parameter optimization method and a PID parameter optimization device. Background technique [0002] In recent years, with the increase of the complexity of the control system and the development of modern control theory, a large number of new control algorithms have been developed, such as adaptive control, expert control, robust control, iterative learning control, fuzzy control and so on. However, in the field of industrial control, PID controllers are widely used due to their ease of use and good robustness. In the field of robot control, the PID controller is also widely used in the servo control of the joint motor of the manipulator due to its good characteristics. The accuracy and stability requirements of the robot are very high, but the PID parameters of the PID control have a crucial influence on the motion performance of the robot. At present, the adj...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘建都王柯刘旭李梦伟戚骁亚
Owner 北京深度奇点科技有限公司
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