基于TD3-MPC算法的芯片分拣机轨迹规划研究  

Research on Trajectory Planning for Chip Sorting Machine Based on TD3-MPC Algorithm

作　　者：何金山 孟新宇[1] HE Jinshan;MENG Xinyu(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,Liaoning,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《凿岩机械气动工具》2025年第3期86-88,共3页Rock Drilling Machinery & Pneumatic Tools

摘　　要：针对芯片分拣机运动平台在复杂轨迹规划中的高精度需求,文章提出了一种将双延迟深度确定策略梯度算法(twin delayed deep deterministic policy gradient,TD3)与模型预测控制(model predictive control,MPC)相结合的混合控制策略——TD3-MPC。仿真实验结果表明,TD3-MPC算法能够有效提高轨迹规划精度,并在复杂轨迹和动态环境中表现出更高的灵活性与稳定性。Based on the demand for high-precision in complex trajectory planning for the motion platform of chip sorting machine,a hybrid control strategy combining Twin Delayed Deep Deterministic Policy Gradient(TD3)with Model Predictive Control(MPC)—TD3-MPC is proposed.The simulation experiment results show that the TD3-MPC algorithm can effectively improve the accuracy of trajectory planning,and show higher flexibility and stability in complex trajectory and dynamic environment.

关 键 词：TD3 MPC 轨迹规划 芯片分拣机 

分 类 号：F416.67[经济管理—产业经济]