[1]高元将,黄明思,谢盛顿,等.基于粒子群算法的机械平台自动升降轨迹控制方法[J].机械与电子,2023,41(05):72-75.
　GAO Yuanjiang,HUANG Mingsi,XIE Shengdun,et al.Automatic Lifting Trajectory Control Method of Mechanical Platform Based on Particle Swarm Algorithm[J].Machinery & Electronics,2023,41(05):72-75.
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基于粒子群算法的机械平台自动升降轨迹控制方法()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年05期
页码:
72-75
栏目:
机电一体化技术
出版日期:
2023-05-25

文章信息/Info

Title:
Automatic Lifting Trajectory Control Method of Mechanical Platform Based on Particle Swarm Algorithm
文章编号:
1001-2257 ( 2023 ) 05-0072-04
作者:
高元将; 黄明思; 谢盛顿; 陈焕财; 潘孝龙
海南电网有限责任公司海南输变电检修分公司,海南 海口 570312
Author(s):
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 )
关键词:
粒子群算法; 自动升降; 机械平台; 轨迹控制; 轨迹规划
Keywords:
particle swarm optimization ;  automatic lifting ;  mechanical platform ;  trajectory control ;  trajectory planning
分类号:
TH21
文献标志码:
A
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。
Abstract:
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.

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备注/Memo

备注/Memo:
收稿日期: 2022-03-10
作者简介:高元将 ( 1978- ),男,海南海口人,助理工程师,研究方向为电力系统;黄明思 ( 1988- ),男,海南安定人,中级工程师,研究方向为电力系统;谢盛顿 ( 1976- ),男,海南海口人,助理工程师,研究方向为电力系统;陈焕财 ( 1981- ),男,海南琼海人,助理工程师,研究方向为电力系统;潘孝龙 ( 1988- ),男,海南文昌人,助理工程师,研究方向为电力系统。
更新日期/Last Update: 2023-05-24