采用改进蝙蝠算法优化的并联机器人液压驱动误差控制研究
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摘要
为了提高并联机器人运动平台轨迹跟踪精度,采用了改进蝙蝠算法优化并联机器人液压驱动控制机构,并对轨迹跟踪误差进行仿真.创建并联机器人液压驱动机构简图模型,给出液压驱动运动平台控制方程式,引用非线性级联控制并联机器人运动平台输出轨迹.设计并联机器人运动平台的参数变量,构造误差输出目标函数并且进行约束.采用差分进化算法融合蝙蝠算法优化目标函数,将优化后的参数输入到Matlab软件中进行误差仿真验证.同时,与蝙蝠算法优化级联控制仿真结果进行对比.仿真结果证明:采用蝙蝠算法优化级联控制,运动平台在x轴、y轴及z轴输出的最大误差分别为1.3×10~(-2),1.8×10~(-2),2.6×10~(-2) m;采用改进蝙蝠算法优化级联控制,运动平台在x轴、y轴及z轴输出的最大误差分别为1.5×10~(-4),1.9×10~(-4),2.5×10~(-4) m.采用改进蝙蝠算法优化并联机器人级联控制,能够提高运动平台定位精度.
In order to improve the trajectory tracking accuracy of the parallel robot motion platform,the improved bat algorithm is adopted to optimize the hydraulic drive control mechanism of parallel robot,and the trajectory tracking error is simulated.A schematic model of hydraulic drive mechanism of parallel robot is established,and the control equation of hydraulic drive platform is given,and the output trajectory of parallel robot motion platform is referenced by nonlinear cascade control.Design the parameter variable of parallel robot motion platform,construct error output target function and constrain.The algorithm is used to optimize the target function,and the optimized parameters are input into the Matlab software to verify the error.At the same time,the simulation results are compared with the optimization cascade control.The simulation results show that the maximum error of the motion platform in x-axis,y-axis and z-axis is 1.3×10~(-2),1.8×10~(-2),2.6×10~(-2) m respectively.The maximum error of the motion platform in x-axis,y-axis and z-axis is 1.5×10~(-4),1.9×10~(-4),2.5×10~(-4) m.The improved bat algorithm is used to optimize the cascade control of parallel robot,which can improve the positioning accuracy of the motion platform.
In order to improve the trajectory tracking accuracy of the parallel robot motion platform,the improved bat algorithm is adopted to optimize the hydraulic drive control mechanism of parallel robot,and the trajectory tracking error is simulated.A schematic model of hydraulic drive mechanism of parallel robot is established,and the control equation of hydraulic drive platform is given,and the output trajectory of parallel robot motion platform is referenced by nonlinear cascade control.Design the parameter variable of parallel robot motion platform,construct error output target function and constrain.The algorithm is used to optimize the target function,and the optimized parameters are input into the Matlab software to verify the error.At the same time,the simulation results are compared with the optimization cascade control.The simulation results show that the maximum error of the motion platform in x-axis,y-axis and z-axis is 1.3×10~(-2),1.8×10~(-2),2.6×10~(-2) m respectively.The maximum error of the motion platform in x-axis,y-axis and z-axis is 1.5×10~(-4),1.9×10~(-4),2.5×10~(-4) m.The improved bat algorithm is used to optimize the cascade control of parallel robot,which can improve the positioning accuracy of the motion platform.
引文
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[2]丁琴琴.基于RBF神经网络调节切换增益的并联机器人滑模控制研究[D].镇江:江苏大学,2012.DING Q Q.Sliding mode control of parallel manipulators based on RBF neural network for switching gain control[D].Zhenjiang:Jiangsu University,2012.
[3]刘兰波,唐志勇,裴忠才.6自由度液压并联机器人结构优化设计[J].机床与液压,2014,42(23):119-121.LIU L B,TANG Z Y,PEI Z C.Structural optimization design of a 6-DOF hydraulic parallel robot[J].Machine Tool and Hydraulics,2014,42(23):119-121.
[4]FILIPOVIC M,DJURIC A,KEVAC L.The rigid S-type cable suspended parallel robot design,modelling and analysis[J].Robotica,2016,34(9):1950-1958.
[5]李一龙,严智敏.基于模糊PID对3-RPS并联机器人轨迹跟踪控制[J].测试技术学报,2016,30(1):24-28.LI Y L,YAN Z M.Trajectory tracking control of 3-RPS parallel robot based on fuzzy PID[J].Journal of Test and Measurement Technology,2016,30(1):24-28.
[6]POUR R K,KHAJVAND H,MOOSAVIAN S A A.Fuzzy logic trajectory tracking control of a 3-RRS ball and plate parallel manipulator[J].International Conference on Robotics and Mechatronics,2016(28):343-348.
[7]马国庆,刘丽,于正林,等.6自由度并联机器人轨迹生成及实验研究[J].长春理工大学学报(自然科学版),2015,38(5):54-57.MA G Q,LIU L,YU Z L,et al.Trajectory generation and experiment research of 6-DOF parallel robot[J].Journal of Changchun University of Science and Technology(Natural Science Edition),2015,38(5):54-57.
[8]GUO H B,LIU Y G,LIU G R,et al.Cascade control of a hydraulically driven 6-DOF parallel robot manipulator based on a sliding mode[J].Control Engineering Practice,2008,16(9):1056-1067.
[9]NEDIC N,STOJANOVIC V,DJORDJEVIC V.Optimal control of hydraulically driven parallel robot platform based on firefly algorithm[J].Nonlinear Dynamics,2015,82(3):1458-1472.
[10]何子旷.蝙蝠算法的改进与应用[D].广州:广东工业大学,2013.HE Z K.Improvement and application of the bat algorithm[D].Guangzhou:Guangdong University of Technology,2013.
[11]周钦亚.动态环境中差分进化算法的研究[D].郑州:郑州大学,2014.ZHOU Q Y.The research of differential evolution under dynamic environment[D].Zhengzhou:Zhengzhou University,2014.