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1.安徽理工大学 深部煤矿采动响应与灾害防控国家重点实验室,安徽 淮南 232001
2.安徽理工大学 机械工程学院,安徽 淮南 232001
[ "马天兵(1981-),男,安徽庐江人,博士,教授,2002年、2005年于安徽理工大学分别获得学士、硕士学位,2014年于南京航空航天大学获得博士学位,现为深部煤矿采动响应与灾害防控国家重点实验室副主任,主要从事机器视觉、振动主动控制方面研究。E-mail:453589872@qq.com" ]
[ "杜 菲(1981-),女,安徽舒城人,硕士,副教授,2002年于安徽理工大学获得学士学位,2008年于贵州大学获得硕士学位,主要从事微能量回收及振动控制方面研究。E-mail:dfmtb@163.com" ]
收稿日期:2021-04-20,
修回日期:2021-06-30,
纸质出版日期:2021-11-15
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马天兵,宫晗,杜菲等.基于线结构光和优化PID的压电柔性机械臂振动控制[J].光学精密工程,2021,29(11):2661-2671.
MA Tian-bing,GONG Han,DU Fei,et al.Piezoelectric flexible manipulator vibration control based on line structured light and optimized PID[J].Optics and Precision Engineering,2021,29(11):2661-2671.
马天兵,宫晗,杜菲等.基于线结构光和优化PID的压电柔性机械臂振动控制[J].光学精密工程,2021,29(11):2661-2671. DOI: 10.37188/OPE.2021.0207.
MA Tian-bing,GONG Han,DU Fei,et al.Piezoelectric flexible manipulator vibration control based on line structured light and optimized PID[J].Optics and Precision Engineering,2021,29(11):2661-2671. DOI: 10.37188/OPE.2021.0207.
针对单目相机无法感知三维深度信息、双目立体视觉在被测物表面特征不明显时存在局限性以及PID控制器参数整定不理想等问题,将线结构光技术应用于柔性臂的振动检测,并利用细菌觅食算法优化的PID对其进行振动控制。首先搭建了线结构光视觉测振系统,建立了数学模型,完成了视觉标定,验证了该方法的可行性与准确性;然后利用细菌觅食算法对PID控制器进行了参数优化,与经验整定法进行了仿真效果对比;最后进行了柔性臂振动主动控制实验。实验结果表明,针对柔性臂的一阶模态振动,利用经验法整定的PID控制方法平均控制效果为25.65%,而利用细菌觅食算法优化的PID控制方法平均控制效果为39.32%,验证了细菌觅食算法优化PID控制器参数的优越性。
It is difficult for three-dimensional (3D) depth information to be detected by monocular cameras, and there are limitations of binocular stereo vision when the surface features are not apparent. In addition, the proportional-integral derivative (PID) controller parameter tuning is not ideal. To address this, linear structured light technology is used to detect vibrations of the flexible manipulator, and the bacterial foraging algorithm is used to optimize the PID for vibration control. First, a linear structured light visual vibration measurement system is developed, and a mathematical model is established. Then, the visual calibration is completed, and the feasibility and accuracy of the proposed method are verified. By using the bacterial foraging algorithm, the parameters of the PID controller are optimized, the simulation results are compared with the results of the empirical tuning method, and the active vibration control experiment of the flexible manipulator is performed. Experimental results show that for the first-order modal vibration of the flexible manipulator, the average effect of the PID control method based on the empirical method control is 25.65% compared with the average effect of 39.32% when using the bacterial foraging algorithm. Consequently, the superiority of the proposed bacterial foraging algorithm when optimizing PID controller parameters is demonstrated.
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