机械科学与技术2024，Vol.43Issue(5)：812-818,7.DOI:10.13433/j.cnki.1003-8728.20220284
改进粒子群算法的单杆柔性臂振动抑制方法研究
Research on Optimal Control Method of Single Flexible Manipulator by Improved PSO Algorithm
摘要
Abstract
When using traditional linear quadratic regulator(LQR)method to control flexible manipulator,the weighted matrix is usually chosen based on prior knowledge.The particle swarm algorithm can independently to find the optimal solution through iterative operation,but the convergence speed of traditional particle swarm optimization(PSO)algorithm is relatively slow.This article proposes an improved particle swarm algorithm to optimize the weighted matrix of LQR control method.The dynamics equation of the flexible manipulator is established by Lagrange equation,and its control model is deduced based on LQR.Based on the traditional particle swarm optimization(PSO),the crossover operation and nonlinear dynamic inertial weight are introduced to improve the global and local search capability.Finally,the comparison and analysis of controlled flexible manipulator simulation results show that the improved PSO algorithm has faster convergence speed and better vibration suppression effect than the traditional PSO algorithm,which provides assistance and support for manipulator's higher precision applications.关键词
柔性臂/线性二次型/粒子群算法/MATLAB仿真Key words
flexible manipulator/LQR/particle swarm optimization/MATLAB simulation分类
机械制造引用本文复制引用
张乐天,张莉,宋倩,钱文浩,宋鑫..改进粒子群算法的单杆柔性臂振动抑制方法研究[J].机械科学与技术,2024,43(5):812-818,7.基金项目
陕西省教育厅研究项目(10JK510) （10JK510）
