Attitude PID control parameter tuning of curtain wall cleaning robot based on improved genetic algorithm

GAO Bo; WU Minghui; HU Heping; YANG Chen

doi:10.12299/jsues.24-0007

Volume 38 Issue 4

Dec. 2024

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Article Navigation > Journal of Shanghai University of Engineering Science > 2024 > 38(4): 429-436, 464

GAO Bo, WU Minghui, HU Heping, YANG Chen. Attitude PID control parameter tuning of curtain wall cleaning robot based on improved genetic algorithm[J]. Journal of Shanghai University of Engineering Science, 2024, 38(4): 429-436, 464. doi: 10.12299/jsues.24-0007

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GAO Bo, WU Minghui, HU Heping, YANG Chen. Attitude PID control parameter tuning of curtain wall cleaning robot based on improved genetic algorithm[J]. Journal of Shanghai University of Engineering Science, 2024, 38(4): 429-436, 464. doi: 10.12299/jsues.24-0007

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Attitude PID control parameter tuning of curtain wall cleaning robot based on improved genetic algorithm

doi: 10.12299/jsues.24-0007

School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2024-01-08
Publish Date: 2024-12-31

Abstract

Abstract

To address the problem of time-consuming and large errors in the attitude PID parameter tuning of a high-rise curtain wall cleaning robot, an improved genetic algorithm (IGA) was proposed. The halton sequence was introduced as the initial population, the adaptive dynamic regulation mechanism was introduced in the crossover and variation stages, and improved integral of time-weighted absolute error (IITAE) evaluation index function with better comprehensive performance was proposed. PID parameter tuning experiments were carried out using IGA, manual empirical method, AGPSO and GA. The results show that the tuning results of the IGA algorithm are more than 20% higher than other algorithms in terms of the objective function value and reduced the convergence time by more than 50%. The controller designed by the IGA methodcan achieve stable control of robot attitude, which has good application value for air attitude stability control of curtain wall cleaning robot.
- curtain wall cleaning robot,
- attitude control,
- PID tuning,
- genetic algorithm (GA)

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References(18)

References

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