基于PSO算法的电液机械臂故障诊断系统集成设计  

Integrated Design of Electro Hydraulic Manipulator Fault Diagnosis System Based on PSO Algorithm

作　　者：张娟荣[1] 刘志勇[1] ZHANG Juan-rong;LIU Zhi-yong(Electromechanical(Technician)College of Xianyang Polytechnic,Baoji 712000,China)

机构地区：[1]咸阳职业技术学院机电(技师)学院,陕西宝鸡712000

出　　处：《液压气动与密封》2022年第5期53-56,59,共5页Hydraulics Pneumatics & Seals

基　　金：咸阳职院2021年度“双高计划”专项研究项目(2021SGA03)。

摘　　要：多自由度电液机械臂的故障诊断系统对于机械臂稳定性运行至关重要,在电液机械臂运行工况中需要实时对系统进行故障检测,针对电液机械臂传统故障诊断系统检测效率和准确率低下的缺陷,设计一种基于粒子群优化(Particle Swarm Optimization, PSO)算法的故障诊断系统,在电液机械臂故障诊断系统架构基础上,通过滑动平均滤波算法对电液机械臂故障检测输入信号进行优化,提取不同故障诊断项的故障信息特征,采用PSO算法进行寻优处理,提高故障诊断的效率,最后在电液机械臂快速原型开发实验平台导入PSO故障诊断算法进行集成测试,实验结果表明所设计的诊断算法能够满足设计需求。The fault diagnosis system of the electro hydraulic manipulator is very important for the stable operation of the manipulator. It is necessary to detect the fault of the system in real time under the operating conditions of the manipulator. Aiming at the defects of low detection efficiency and accuracy of the traditional fault diagnosis system of the manipulator, a fault diagnosis system based on particle swarm intelligence algorithm is designed. Based on the architecture of the manipulator fault diagnosis system, the sliding average filter algorithm is used to optimize the fault detection input signal of the manipulator, extract the fault information characteristics of different fault diagnosis items, and use the PSO algorithm for optimization processing to improve the efficiency of fault diagnosis. Finally, the PSO fault diagnosis algorithm is introduced into the rapid prototyping experimental platform of the manipulator for integration test, the experimental results show that the designed diagnosis algorithm can meet the design requirements.

关 键 词：电液机械臂 故障诊断系统 PSO 系统架构 快速原型 集成测试 

分 类 号：TH137[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]