MATEC Web Conf.
Volume 95, 20172016 the 3rd International Conference on Mechatronics and Mechanical Engineering (ICMME 2016)
|Number of page(s)||5|
|Section||Robot Design and Control|
|Published online||09 February 2017|
Optimal Design for PID Controller Based on DE Algorithm in Omnidirectional Mobile Robot
1 Automation Engineering, The 713th Institute of China Shipbuilding Industry Corporation, 450000 Zhengzhou City, Henan Province, China
2 Mechatronics, Naval Representative Office in Zhengzhou Region, 450000 Zhengzhou City, Henan Province, China
3 Railway Engineering Railway Bureau of Zhengzhou, 450000 Zhengzhou City, Henan Province, China
This paper introduces a omnidirectional mobile robot based on Mecanum wheel, which is used for conveying heavy load in a small space of the automatic warehousing logistics center. Then analyzes and establishes the omnidirectional chassis inverse and forward kinematic model. In order to improve the performance of motion, the paper proposes the optimal PID controller based on differential evolution algorithm. Finally, through MATLAB simulation, the results show that the kinematic model of mobile robot chassis is correct, further more the controller optimized by the DE algorithm working better than the traditional Z-N PID tuned. So the optimal scheme is reasonable and feasible, which has a value for engineering applications.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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