摘要
为解决基于RSSR机构无碳小车的运动轨迹应用设计问题,提出了一种数型结合的优化设计方法。首先,建立无碳小车运动轨迹的数值积分数学模型,取影响小车轨迹的9个变量设计出正交表,利用Matlab软件编程作出小车运动轨迹图谱;其次,根据应用要求,从图谱选取形状和大小接近的轨迹,采用观察法并手动调节设计变量参数,使得轨迹进一步接近设计目标;最后,为了提高小车轨迹周期性运行的准确度,提出了一种变量轮换优选最速下降法,编制了Matlab程序进行求解,验证了该算法可以有效地解决小车轨迹多目标函数局部非劣解的优化设计问题,并得到满足设计目标的最终设计参数。
In order to solve the problem of motion trajectory application design of Low carbon car based on RSSR mechanism,this paper proposes an optimization design method of number type combination.First of all,the numerical integral mathematical model of the trajectory of the Low carbon car is established,and the orthogonal table is designed by taking nine variables that affect the trajectory of the car.Secondly,according to the requirements of the application,the trajectory with close shape and size is selected from the atlas,and the observation method is used to adjust the parameters of the design variables manually,so that the trajectory is closer to the design goal.Finally,in order to improve the accuracy of the periodic operation of the vehicle trajectory,this paper also proposes a variable rotation optimal steepest descent method,compiling a matlab program to solve the problem.It is verified that the algorithm can effectively solve the optimization design problem of the local non inferior solution of the multi-objective function of the vehicle trajectory,and obtain the final design parameters that meet the design objectives.
作者
黄泳波
林霭宏
梁标
HUANG Yongbo;LIN Aihong;LIAN Biao(School of Mechanical Engineering,Dongguan University of Technology,Dongguan 523808,China)
出处
《东莞理工学院学报》
2020年第5期109-116,共8页
Journal of Dongguan University of Technology
基金
广东省普通高校机器人与智能装备重点实验室(2017KSYS009)
东莞理工学院2018年校级质量工程项目(201802109)。
