PID Parameter Optimization in Joint Control of Air Duct Cleaning Robot

Abstract:

To improve the joint control of the air-duct cleaning robot, an advanced control strategy of the brushless DC motor has been proposed to substitute the traditional PID control. The novel optimization algorithm based on the improved particle swarm optimization (PSO) is used to modify the normal incomplete derivative PID algorithm and globally optimize its parameters. Simulation results show that the proposed algorithm achieves a well control performance and can effectively satisfy the high accuracy and real-time requirement of the air-duct cleaning robot.

• Periodical: Applied Mechanics and Materials (Volumes 241-244)
• Pages: 1904-1907
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.241-244.1904
• Online since: December 2012
• Authors: Zhi Wei Zhou, Wei Sun, Cong Wang, Qian Zhu
• Keywords: Cleaning Robot, Parameter Optimization, Particle Swarm Optimization (PSO), PID

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