改进和声搜索-遗传算法的机械臂鲁棒控制  

Manipulator Motion Robust Control Based on Improved Harmony Search-Genetic Algorithm

作　　者：牛莉莉[1] 

机构地区：[1]北华大学机械工程学院,长春132021

出　　处：《组合机床与自动化加工技术》2017年第11期69-72,77,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(61175113)

摘　　要：为了提高机械臂系统的控制性能和鲁棒性,文章提出了基于改进和声搜索-遗传算法的鲁棒控制方法。介绍了D-H坐标法,建立了机械臂系统的运动学和动力学方程;提出了自适应遗传算法,使算法的交叉变异概率自适应调整,保证了算法的搜索效率和稳定性;提出了改进和声搜索-遗传算法的鲁棒控制方法,经实验可以看出,基于改进和声搜索-遗传算法的鲁棒控制器在调节时间、超调量、稳态误差上表现优异;当存在外部干扰时,与其它鲁棒控制器相比,改进和声搜索-遗传算法的鲁棒控制器在调节时间、关节最大变换量上表现出优势,具有更好的鲁棒性。To improve control performance and robustness of manipulator system, robust controller based on improved harmony search-genetic algorithm is proposed. D-H coordinate is introduced, and kinematics and kinetic equation of manipulator system are built. Adaptive genetic algorithm is put forward, which make crossover probability and mutation probability adjust adaptively, search efficiency and stability of algorithm is curtained. Robust controller based on improved harmony search-genetic algorithm is raised. By trail, the robust controller possesses excellent performance on setting time, overshoot, and steady error. When external disturbance existing, the robust controller possesses excellent performance on setting time and maximum joint transform distance, which means the robust controller possesses better robustness.

关 键 词：机械臂 运动鲁棒控制 改进遗传算法 

分 类 号：TH112[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]