多算法融合的并联食品分拣机器人轨迹跟踪控制方法  

Multi algorithm fusion based trajectory tracking control method for parallel food sorting robots

作　　者：李云峰 王聪[2] 李玉琴 LI Yunfeng;WANG Cong;LI Yuqin(Shanxi Vocational University of Engineering Science and Technology,Jinzhong,Shanxi 030619,China;Taiyuan University of Technology,Taiyuan,Shanxi 030024,China;Shanxi University,Taiyuan,Shanxi 030006,China)

机构地区：[1]山西工程科技职业大学,山西晋中030619 [2]太原理工大学,山西太原030024 [3]山西大学,山西太原030006

出　　处：《食品与机械》2024年第4期72-77,共6页Food and Machinery

基　　金：山西省教育科学“十四五”规划课题(编号:SZ-21140)。

摘　　要：目的:解决并联食品分拣机器人轨迹跟踪控制方法存在的控制精度低和运动稳定性差等问题。方法:在四自由度并联机器人结构基础上,提出将滑模控制算法、模糊控制算法和改进蝙蝠算法相结合用于并联食品分拣机器人轨迹跟踪控制。通过改进蝙蝠算法对模糊算法带宽进行寻优,通过优化的模糊控制算法自适应调整滑膜控制算法的模糊增益和滑膜面斜率,降低控制器的跟踪误差,提高抗干扰能力,并验证所提轨迹跟踪控制方法的优越性。结果:所提轨迹跟踪控制方法实际分拣准确率为99.90%,平均分拣时间为0.509 s。结论:与常规方法相比,所提轨迹跟踪控制方法的关节轨迹跟踪精度更高,抗干扰能力更强,输出力矩更加平滑。Objective:To solve the problems of low control accuracy and poor motion stability in the trajectory tracking control method of parallel food sorting robots.Methods:On the basis of analyzing the structure of a four degree of freedom parallel robot,a combination of sliding mode control algorithm,fuzzy control algorithm,and improved bat algorithm was proposed for trajectory tracking control of a parallel food sorting robot.Optimizing the bandwidth of fuzzy algorithms by improving the bat algorithm,and adaptively adjusting the fuzzy gain and sliding surface slope of the sliding membrane control algorithm through the optimized fuzzy control algorithm,the tracking error of the controller was reduced,improve anti-interference ability,and verify the superiority of the proposed trajectory tracking control method.Results:The proposed trajectory tracking control method had an actual sorting accuracy of 99.90%and an average sorting time of 0.509 seconds.Conclusion:Compared with conventional methods,the proposed trajectory tracking control method has higher joint trajectory tracking accuracy,stronger anti-interference ability,and smoother output torque.

关 键 词：并联机器人 轨迹跟踪 滑模控制算法 模糊控制器 蝙蝠算法 四自由度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]