Mechanical arm fuzzy PID control method based on quantum pigeon inspired optimization

The invention discloses a fuzzy PID (Proportion Integration Differentiation) control method for a mechanical arm based on quantum pigeon inspired optimization, which comprises the following steps of: firstly, planning a motion track, and controlling the mechanical arm to move according to the planne...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: KANG XIUSHAN, ZHU HUAN, WANG XUEJUN, YANG XIAOHU, SU GUANGHONG, WU JIE, ZHOU HANG, LUO YANG, YANG HUA, LI CHAO, ZHONG JIA, YANG TAO, YANG YANG, TIAN GUIQING, SU LING
Format: Patent
Sprache:chi ; eng
Schlagworte:
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page
container_issue
container_start_page
container_title
container_volume
creator KANG XIUSHAN
ZHU HUAN
WANG XUEJUN
YANG XIAOHU
SU GUANGHONG
WU JIE
ZHOU HANG
LUO YANG
YANG HUA
LI CHAO
ZHONG JIA
YANG TAO
YANG YANG
TIAN GUIQING
SU LING
description The invention discloses a fuzzy PID (Proportion Integration Differentiation) control method for a mechanical arm based on quantum pigeon inspired optimization, which comprises the following steps of: firstly, planning a motion track, and controlling the mechanical arm to move according to the planned motion track through a fuzzy PID controller; a QAPIO algorithm is adopted to optimize fuzzy PID control parameters, and each pigeon can serve as a PID control parameter of each joint of the mechanical arm. According to the QAPIO algorithm, a compass operator updating equation in an original algorithm and a probability density function and a quantum revolving door in real number coding quantum representation are modified, so that the algorithm has the continuous updating capacity, the optimal value can be continuously updated, the global optimization capacity is improved, the situation that local optimum is obtained too early is avoided, and the real number coding efficiency is improved. The problem that the origi
format Patent
fullrecord <record><control><sourceid>epo_EVB</sourceid><recordid>TN_cdi_epo_espacenet_CN116728404A</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>CN116728404A</sourcerecordid><originalsourceid>FETCH-epo_espacenet_CN116728404A3</originalsourceid><addsrcrecordid>eNqNisEOwUAQQHtxEPzD-ACJ0uAqRTgQB87NdDvVSXZn1-72YL8eiQ9wenl5b5jdz6Q6FFaoAb2Btk_pBdfTDpSV6K0GQ7GzDdQYqAEr8OxRYm_A8YM-yhIc-29ykQ0njGxlnA1a1IEmP46y6WF_K48zcrai4FCRUKzKS56v1otNMS-2y3-eN9KgOVg</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>patent</recordtype></control><display><type>patent</type><title>Mechanical arm fuzzy PID control method based on quantum pigeon inspired optimization</title><source>esp@cenet</source><creator>KANG XIUSHAN ; ZHU HUAN ; WANG XUEJUN ; YANG XIAOHU ; SU GUANGHONG ; WU JIE ; ZHOU HANG ; LUO YANG ; YANG HUA ; LI CHAO ; ZHONG JIA ; YANG TAO ; YANG YANG ; TIAN GUIQING ; SU LING</creator><creatorcontrib>KANG XIUSHAN ; ZHU HUAN ; WANG XUEJUN ; YANG XIAOHU ; SU GUANGHONG ; WU JIE ; ZHOU HANG ; LUO YANG ; YANG HUA ; LI CHAO ; ZHONG JIA ; YANG TAO ; YANG YANG ; TIAN GUIQING ; SU LING</creatorcontrib><description>The invention discloses a fuzzy PID (Proportion Integration Differentiation) control method for a mechanical arm based on quantum pigeon inspired optimization, which comprises the following steps of: firstly, planning a motion track, and controlling the mechanical arm to move according to the planned motion track through a fuzzy PID controller; a QAPIO algorithm is adopted to optimize fuzzy PID control parameters, and each pigeon can serve as a PID control parameter of each joint of the mechanical arm. According to the QAPIO algorithm, a compass operator updating equation in an original algorithm and a probability density function and a quantum revolving door in real number coding quantum representation are modified, so that the algorithm has the continuous updating capacity, the optimal value can be continuously updated, the global optimization capacity is improved, the situation that local optimum is obtained too early is avoided, and the real number coding efficiency is improved. The problem that the origi</description><language>chi ; eng</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; HAND TOOLS ; MANIPULATORS ; PERFORMING OPERATIONS ; PORTABLE POWER-DRIVEN TOOLS ; TRANSPORTING</subject><creationdate>2023</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&amp;date=20230912&amp;DB=EPODOC&amp;CC=CN&amp;NR=116728404A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&amp;date=20230912&amp;DB=EPODOC&amp;CC=CN&amp;NR=116728404A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>KANG XIUSHAN</creatorcontrib><creatorcontrib>ZHU HUAN</creatorcontrib><creatorcontrib>WANG XUEJUN</creatorcontrib><creatorcontrib>YANG XIAOHU</creatorcontrib><creatorcontrib>SU GUANGHONG</creatorcontrib><creatorcontrib>WU JIE</creatorcontrib><creatorcontrib>ZHOU HANG</creatorcontrib><creatorcontrib>LUO YANG</creatorcontrib><creatorcontrib>YANG HUA</creatorcontrib><creatorcontrib>LI CHAO</creatorcontrib><creatorcontrib>ZHONG JIA</creatorcontrib><creatorcontrib>YANG TAO</creatorcontrib><creatorcontrib>YANG YANG</creatorcontrib><creatorcontrib>TIAN GUIQING</creatorcontrib><creatorcontrib>SU LING</creatorcontrib><title>Mechanical arm fuzzy PID control method based on quantum pigeon inspired optimization</title><description>The invention discloses a fuzzy PID (Proportion Integration Differentiation) control method for a mechanical arm based on quantum pigeon inspired optimization, which comprises the following steps of: firstly, planning a motion track, and controlling the mechanical arm to move according to the planned motion track through a fuzzy PID controller; a QAPIO algorithm is adopted to optimize fuzzy PID control parameters, and each pigeon can serve as a PID control parameter of each joint of the mechanical arm. According to the QAPIO algorithm, a compass operator updating equation in an original algorithm and a probability density function and a quantum revolving door in real number coding quantum representation are modified, so that the algorithm has the continuous updating capacity, the optimal value can be continuously updated, the global optimization capacity is improved, the situation that local optimum is obtained too early is avoided, and the real number coding efficiency is improved. The problem that the origi</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>HAND TOOLS</subject><subject>MANIPULATORS</subject><subject>PERFORMING OPERATIONS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2023</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNisEOwUAQQHtxEPzD-ACJ0uAqRTgQB87NdDvVSXZn1-72YL8eiQ9wenl5b5jdz6Q6FFaoAb2Btk_pBdfTDpSV6K0GQ7GzDdQYqAEr8OxRYm_A8YM-yhIc-29ykQ0njGxlnA1a1IEmP46y6WF_K48zcrai4FCRUKzKS56v1otNMS-2y3-eN9KgOVg</recordid><startdate>20230912</startdate><enddate>20230912</enddate><creator>KANG XIUSHAN</creator><creator>ZHU HUAN</creator><creator>WANG XUEJUN</creator><creator>YANG XIAOHU</creator><creator>SU GUANGHONG</creator><creator>WU JIE</creator><creator>ZHOU HANG</creator><creator>LUO YANG</creator><creator>YANG HUA</creator><creator>LI CHAO</creator><creator>ZHONG JIA</creator><creator>YANG TAO</creator><creator>YANG YANG</creator><creator>TIAN GUIQING</creator><creator>SU LING</creator><scope>EVB</scope></search><sort><creationdate>20230912</creationdate><title>Mechanical arm fuzzy PID control method based on quantum pigeon inspired optimization</title><author>KANG XIUSHAN ; ZHU HUAN ; WANG XUEJUN ; YANG XIAOHU ; SU GUANGHONG ; WU JIE ; ZHOU HANG ; LUO YANG ; YANG HUA ; LI CHAO ; ZHONG JIA ; YANG TAO ; YANG YANG ; TIAN GUIQING ; SU LING</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN116728404A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2023</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>HAND TOOLS</topic><topic>MANIPULATORS</topic><topic>PERFORMING OPERATIONS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>KANG XIUSHAN</creatorcontrib><creatorcontrib>ZHU HUAN</creatorcontrib><creatorcontrib>WANG XUEJUN</creatorcontrib><creatorcontrib>YANG XIAOHU</creatorcontrib><creatorcontrib>SU GUANGHONG</creatorcontrib><creatorcontrib>WU JIE</creatorcontrib><creatorcontrib>ZHOU HANG</creatorcontrib><creatorcontrib>LUO YANG</creatorcontrib><creatorcontrib>YANG HUA</creatorcontrib><creatorcontrib>LI CHAO</creatorcontrib><creatorcontrib>ZHONG JIA</creatorcontrib><creatorcontrib>YANG TAO</creatorcontrib><creatorcontrib>YANG YANG</creatorcontrib><creatorcontrib>TIAN GUIQING</creatorcontrib><creatorcontrib>SU LING</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>KANG XIUSHAN</au><au>ZHU HUAN</au><au>WANG XUEJUN</au><au>YANG XIAOHU</au><au>SU GUANGHONG</au><au>WU JIE</au><au>ZHOU HANG</au><au>LUO YANG</au><au>YANG HUA</au><au>LI CHAO</au><au>ZHONG JIA</au><au>YANG TAO</au><au>YANG YANG</au><au>TIAN GUIQING</au><au>SU LING</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Mechanical arm fuzzy PID control method based on quantum pigeon inspired optimization</title><date>2023-09-12</date><risdate>2023</risdate><abstract>The invention discloses a fuzzy PID (Proportion Integration Differentiation) control method for a mechanical arm based on quantum pigeon inspired optimization, which comprises the following steps of: firstly, planning a motion track, and controlling the mechanical arm to move according to the planned motion track through a fuzzy PID controller; a QAPIO algorithm is adopted to optimize fuzzy PID control parameters, and each pigeon can serve as a PID control parameter of each joint of the mechanical arm. According to the QAPIO algorithm, a compass operator updating equation in an original algorithm and a probability density function and a quantum revolving door in real number coding quantum representation are modified, so that the algorithm has the continuous updating capacity, the optimal value can be continuously updated, the global optimization capacity is improved, the situation that local optimum is obtained too early is avoided, and the real number coding efficiency is improved. The problem that the origi</abstract><oa>free_for_read</oa></addata></record>
fulltext fulltext_linktorsrc
identifier
ispartof
issn
language chi ; eng
recordid cdi_epo_espacenet_CN116728404A
source esp@cenet
subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title Mechanical arm fuzzy PID control method based on quantum pigeon inspired optimization
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-24T18%3A44%3A34IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-epo_EVB&rft_val_fmt=info:ofi/fmt:kev:mtx:patent&rft.genre=patent&rft.au=KANG%20XIUSHAN&rft.date=2023-09-12&rft_id=info:doi/&rft_dat=%3Cepo_EVB%3ECN116728404A%3C/epo_EVB%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true