摘要
机械平台升降轨迹受到多个关节、连杆运动参量的影响,很难对其进行精准控制,因此提出基于粒子群算法的机械平台自动升降轨迹控制方法。分析机械平台结构与基本参数,构建机械平台升降轨迹模型,采用多项式插值方法插值处理机械平台升降轨迹,获得轨迹插值方程,确立升降轨迹控制函数。采用粒子群算法求解升降轨迹控制函数,算法输出结果即为升降轨迹最佳控制量,从而实现机械平台自动升降轨迹控制。实验结果表明,该方法获取最佳控制量迭代次数较少,升降轨迹控制效果较好,应用性能较佳。
The lifting trajectory of mechanical platform is affected by the motion parameters of multiple joints and connecting rods,so it is difficult to control it accurately.Therefore,an automatic lifting trajectory control method of mechanical platform based on particle swarm optimization algorithm is proposed.The structure and basic parameters of the mechanical platform are analyzed,the lifting trajectory model of the mechanical platform is constructed,the lifting trajectory of the mechanical platform is interpolated by polynomial interpolation method,the trajectory interpolation equation is obtained,and the lifting trajectory control function is established.The particle swarm optimization algorithm is used to solve the lifting trajectory control function,and the output result of the algorithm is the optimal control quantity of the lifting trajectory,so as to realize the automatic lifting trajectory control of the mechanical platform.The experimental results show that this method obtains the optimal control quantity,the number of iterations is less,and the lifting trajectory control effect is better,which shows that the application performance of this method is better.
作者
高元将
黄明思
谢盛顿
陈焕财
潘孝龙
GAO Yuanjiang;HUANG Mingsi;XIE Shengdun;CHEN Huancai;PAN Xiaolong(Hainan Power Transmission and Transformation Maintenance Branch,Hainan Power Grid Co.,Ltd.,Haikou 570312,China)
出处
《机械与电子》
2023年第5期72-75,80,共5页
Machinery & Electronics
关键词
粒子群算法
自动升降
机械平台
轨迹控制
轨迹规划
particle swarm optimization
automatic lifting
mechanical platform
trajectory control
trajectory planning
