含间隙曲柄滑块机构自适应鲁棒控制研究  

Adaptive robust control of crank-slider mechanism with clearance

作　　者：薛邵文[1,2] 林乃昌 XUE Shao-wen;LIN Nai-chang(School of Mechanical Engineering,Luzhou Vocational and Technical College,Luzhou 646005,China;Luzhou Key Laboratory of Intelligent Manufacturing,Sichuan Province,Luzhou 646005,China)

机构地区：[1]泸州职业技术学院机械工程学院,四川泸州646005 [2]四川省泸州市智能制造重点实验室,四川泸州646005

出　　处：《机电工程》2020年第11期1317-1322,共6页Journal of Mechanical & Electrical Engineering

基　　金：湖南省教育厅科学研究项目(19C1594);泸州市智能制造重点实验室基金资助项目(2020K-2018)。

摘　　要：针对曲柄滑块机构间隙引起的系统稳定性、精度和可靠性降低的问题,运用改进的PSO算法对含间隙曲柄滑块机构进行了辨识,并就间隙所产生的误差,应用自适应鲁棒控制器进行了补偿。首先,对惯性因子采用非线性递减的方式、局部最优值采用加权平均的方式,对传统的PSO算法进行了改进;然后,分别运用传统的PSO算法和改进的PSO算法,对含间隙曲柄滑块机构进行了辨识;最后,针对曲柄滑块机构间隙产生的误差,设计出自适应鲁棒控制器进行了补偿。研究结果表明:相比传统的PSO算法,应用改进的PSO算法对系统辨识所建立的模型具有更高的准确性;设计的自适应鲁棒控制器控制的信号跟踪精度平均提高了51%左右。Aiming at the problems of the decrease of system stability,accuracy and reliability caused by the clearance of the crank slider mechanism,the improved PSO algorithm was used to identify the crank-slider mechanism with clearance,and an adaptive robust controller was used to compensate for the error generated by the clearance.First,the traditional PSO algorithm was improved from the inertia factor using a nonlinear decreasing method and the local optimal value was a weighted average method.Then,the traditional PSO algorithm and the improved PSO algorithm were respectively used to identify the crank slider mechanism with clearance.Finally,an adaptive robust controller was designed to compensate for the errors caused by the clearance of the crank slider mechanism.The results indicate that,compared with the traditional PSO algorithm,the improved PSO algorithm has higher accuracy for the model established by system identification,and the signal tracking accuracy of the designed adaptive robust controller is increased by about 51%on average.

关 键 词：间隙 曲柄滑块机构 改进粒子群优化算法 参数辨识 鲁棒控制 

分 类 号：TH112[机械工程—机械设计及理论] TP273.2[自动化与计算机技术—检测技术与自动化装置]