A Study of the Stability of an Industrial Robot Servo System: PID Control Based on a Hybrid Sparrow Optimization Algorithm

Industrial robots can cause servo system instability during operation due to friction between joints and changes in end loads, which results in jittering of the robotic arm. Therefore, this paper proposes a hybrid sparrow search algorithm (HSSA) method for PID parameter optimization. By studying the...

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Bibliographic Details
Published in:Actuators Vol. 14; no. 2; p. 49
Main Authors: Wang, Pengxiang, Feng, Tingping, Song, Changlin, Li, Junmin, Yang, Simon X.
Format: Journal Article
Language:English
Published: Basel MDPI AG 01.02.2025
Subjects:
Accuracy
Algorithms
Control algorithms
Control theory
Controllers
Genetic algorithms
Global optimization
hybrid sparrow search algorithm
Industrial production
industrial robotics
Industrial robots
Local optimization
Mathematical models
Mathematical optimization
Neural networks
Optimization algorithms
Parameters
PID optimization
Proportional integral derivative
Robot arms
Robot control
Robot dynamics
Robotics industry
Robots
Search algorithms
servo system stability
Servocontrol
Stability
Step response
Systems stability
China
ISSN:2076-0825, 2076-0825
Online Access:Get full text
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Summary:Industrial robots can cause servo system instability during operation due to friction between joints and changes in end loads, which results in jittering of the robotic arm. Therefore, this paper proposes a hybrid sparrow search algorithm (HSSA) method for PID parameter optimization. By studying the optimization characteristics of the genetic algorithm (GA) and sparrow search algorithm (SSA), the method combines the global optimization ability of GA and the local optimization ability of SSA, thus effectively reducing the risk of SSA falling into local optimum and improving the ability of SSA to find global optimization solutions. On the basis of the traditional PID control algorithm, HSSA is used to intelligently optimize the PID parameters so that it can better meet the nonlinear motion of the industrial robot servo system. It is proven through experiments that the HSSA in this paper, compared with GA, SSA, and traditional PID, has a maximum improvement of 73% in the step response time and a maximum improvement of more than 95% in the iterative optimization search speed. The experimental results show that the method has a good suppression effect on the jitter generated by industrial robots in motion, effectively improving the stability of the servo system, so this work greatly improves the stability and safety of industrial robots in operation.
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content type line 14
ISSN:2076-0825
2076-0825
DOI:10.3390/act14020049