关键词: 模糊星形拓扑结构的膜计算优化算法, 煤炭分拣机器人, PID

Abstract:

In sorting process of using traditional coal sorting robot, the time-varying load non-linear changes cause fluctuations in speed frequently. Such fluctuations affect the performance of the systematic control seriously, and reduce mechanical arm operating accuracy and rapidity. This paper presents the fuzzy star topology-membrane computing algorithm (FST-MC algorithm) to optimize PID self-tuning system which encodes three control parameters of PID to transform into optimized objects, and obtains ideal optimal values through empathy, communication, cross and rewrite. Finally, it carries out a simulation experiment, the experimental results demonstrate the proposed system in this paper has the advantage of fast response, high control accuracy and robustness performance, so it has a very good application prospect in coal sorting robot system.

Key words: the fuzzy star topology-membrane computing algorithm, coal sorting robot, PID