Volume 3,Issue 7
基于斑马优化算法的出炉机器人位姿调整机构模糊 PID 控制与实验研究
为提高铁合金出炉机器人的控制精度，本文基于4-RPC/PPR 并联机构设计了出炉机器人位姿调整机构的控制系统。首先对4-RPC/PPR 并联机构进行结构介绍。为提高出炉机器人的控制精度，设计了出炉机器人位姿调整机构模糊 PID 控制器。然后，采用斑马优化算法对模糊 PID 控制器进行初始化调参以提高调参效率。最后搭建了实验样机，通过实验验证了设计的控制策略具有较高的控制精度。
[1]Pan H, Tang S, Chen G, et al. Active Control of Contact Force for a Quasi-Translational Flexible-Link Parallel Mechanism[J]. Journal of Mechanisms and Robotics, 2024, 16(7): 071015.
[2]Wang L, Song B, Sun Z, et al. Flapping trajectory characteristics and attitude control approach of a flapping-wing robot with 2-DOF parallel mechanism[J]. Aerospace Science and Technology, 2024, 147: 109020.
[3]Nouri Rahmat Abadi B, Carretero J A. Modeling and real-time motion planning of a class of kinematically redundant parallel mechanisms with reconfigurable platform[J]. Journal of Mechanisms and Robotics, 2023, 15(2): 021004.
[4]Liu P, Wang L, Duan X, et al. On the contact dynamics and adaptive fuzzy sliding mode impedance control for 4-PS parallel mechanism with model uncertainties and external disturbances[J]. Advanced Robotics, 2026, 40(2): 93-111.
[5]Xu A, Xu Z, Zhang H, et al. Design of active vibration isolation controller for pointing stabilization mechanism based on feedforward–feedback hybrid control[J]. Journal of Vibration and Control, 2025, 31(15-16): 3258-3271.
[6]Gao X, Niu J, Jia R. Grey relation analysis of natural frequency and semi-active robust optimal control of a multi-dimensional isolator based on parallel mechanism and magneto-rheological damper[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2022, 236(10): 5181-5191.
[7]Jiang Z, Chen Z, Xu K, et al. Distributed collaborative control to pose tracking for six-DOF parallel mechanism under multi-cylinder communication[J]. ISA transactions, 2025, 159: 312-325.
[8]Zhu Z, Liu Y, He Y, et al. Fuzzy PID control of the three-degree-of-freedom parallel mechanism based on genetic algorithm[J]. Applied Sciences, 2022, 12(21): 11128.
[9]Guo D, Xie Z, Sun X, et al. Dynamic modeling and model-based control with neural network-based compensation of a five degrees-of-freedom parallel mechanism[J]. Machines, 2023, 11(2): 195.
[10]Zhou Z, Gao J, Zhang L. A model-free decoupled and robust repetitive controller for trajectory tracking performance of a three-axis parallel mechanism[J]. Journal of Mechanical Science and Technology, 2025, 39(2): 857-875.