棉纺织技术2025，Vol.53Issue(3)：6-14,9.
基于改进模糊控制算法的纱管抓取力控制
Yarn tube gripping force control based on improved Fuzzy control algorithm
摘要
Abstract
In order to solve the problem of difficult to achieve accurate control of yarn tube grasping force due to weak anti-interference ability and low efficiency of the traditional trial-and-error method of adjusting PID control parameters in the process of yarn grasping manipulator,a kind of improved Fuzzy PID(GA-Fuzzy)control algorithm based on the optimization of genetic algorithm was put forward.Firstly,the characteristics of the yarn gripping manipulator gripping force control system were analyzed.The specific strategy of combining the genetic algorithm with the Fuzzy PID gripping force control system was proposed.The quantization factor and the proportionality factor of the Fuzzy PID controller were optimized by the improved genetic algorithm so as to realize the adaptive adjustment of the PID control parameter and the adjustment of the control output.Thus the dynamic performance of the system was optimized,the speed of the control response and the robustness of the system was improved.Finally,through MATLAB/Simulink simulation and experimental verification,the gripping test was carried out on a variety of common yarn tubes with different specification models.The results showed that the GA-Fuzzy control algorithm designed could achieve a stable gripping force within 0.312 s,compared with the Fuzzy PID control and traditional PID control,respectively,the time were reduced by 0.395 s,0.570 s,the overshoot were reduced by 27.4%and 19.2%,and the steady state error were reduced by 0.007 N and 0.023 N.The transient response speed,control accuracy and stability of the system were significantly improved.Moreover,the measured success rate of gripping was reached 100%.关键词
纱管抓取/末端执行器/机械臂/动力学模型/模糊PID控制/遗传算法Key words
yarn tube gripping/end-effector/robotic arm/kinetic modelling/Fuzzy PID control/genetic algorithm分类
轻工业引用本文复制引用
李杭,管声启,何建新,李想,邵伟力..基于改进模糊控制算法的纱管抓取力控制[J].棉纺织技术,2025,53(3):6-14,9.基金项目
国家重点研发计划(2022YFB4700601,2022YFB4700602,2022YFB4700603) （2022YFB4700601,2022YFB4700602,2022YFB4700603）
