基于人工鱼群算法的举升过程的时间优化方法研究

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Stage planning method is proposed to avoid hydraulic impact caused by stage change of two stage hydraulic cylinder.In order to make every stage movement stable,an time optimal method is presented based on the actuating constrains,such as hydraulic pressure and flux.Firstly,kinematics and dynamics models of the system are established with the analyzing method and the posture variety of the machine arm is fitted by quintic polynomial while the lifting time is parameterized.Then the optimal lifting time is calculated by artificial fish swarm algorithm.Finally,the posture variety of the machine arm and the running track of hydraulic cylinder are gained.Simulation results have indicated the validity of time optimal method.为消除二级液压缸换级碰撞带来的液压冲击,提出采用分级规划方法。对每一级进行规划时,在保证举升过程的平稳性以及考虑液压系统压力和流量约束的基础上,提出一种时间优化的方法。首先运用解析法建立系统的运动学和动力学模型,然后以举升时间为参数,运用五次多项式拟合机械臂的位姿变化轨迹,再利用人工鱼群算法求解出最优举升时间,从而得到机械臂的位姿轨迹和液压缸的运行轨迹。仿真结果表明时间优化方法的有效性。