摘要
液压机械臂由于采用液压系统作为驱动装置,在实现闭环运动控制过程中存在能效较低的缺点。针对此问题,提出一种基于全局能量优化的液压机械臂节能控制策略。分析液压机械臂各关节与驱动液压缸之间的运动转换,并推导了关节运动与液压缸两腔压力之间的非线性映射关系。在此基础上,构建液压机械臂能量消耗目标函数,与运动时间构成多目标优化问题,并利用改进的NSGA-Ⅱ多目标优化算法求解该问题的最优解。通过对比仿真结果可以发现:所提出的基于全局能量优化的节能控制策略与传统的定供油压力控制策略相比,节约了46.73%的能量,与传统基于时间-能量的优化节能策略相比节约了8.62%的能量,从而验证了所提策略的有效性。
Hydraulic manipulator has the disadvantage of low energy efficiency in the process of realizing closed-loop motion con-trol because of using hydraulic system as the driving device.To solve this problem,an energy saving control method based on global en-ergy optimization was proposed.The motion transformation between the joint of the hydraulic manipulator and the driving hydraulic cyl-inder was analyzed,and the nonlinear mapping relationship between the joint motion and the pressure of the two chambers of the hy-draulic cylinder was deduced.On this basis,the energy consumption function of the hydraulic manipulator was constructed to form a multi-objective optimization problem with the motion time,and the improved NSGA-II multi-objective optimization algorithm was used to solve the optimal solution.By comparing the simulation results,it can be found that the proposed energy-saving control method saves 46.73%energy compared with the traditional constant-supply pressure control method,and the energy is saved by 8.62%com-pared with the traditional time-energy optimization strategy,verifying the effectiveness of the proposed method.
作者
张啸甫
施光林
ZHANG Xiaofu;SHI Guanglin(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)
出处
《机床与液压》
北大核心
2023年第23期10-15,共6页
Machine Tool & Hydraulics
关键词
液压机械臂
全局能量优化
可变供油压力
多目标优化
Hydraulic manipulator
Global energy optimization
Variable fuel supply pressure
Multi-objective optimization
