Vibration suppression for forging robots based on input shaping and sliding mold

被引：0
|
作者：
Yuan M. [1 ,3 ]
Wang L. [1 ]
Chen W. [2 ]
Qiu B. [3 ]
Xu Y. [1 ]
机构：
[1] School of Metallurgy and Material Engineering, Jiangsu University of Science and Technology, Zhangjiagang
[2] Department of Industry, 716 Research Institute of China Shipbuilding Industry Group Corporation, Lianyungang
[3] Department of Business, Lianyungang Jerry Automation Co., Ltd., Lianyungang
来源：
Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS | 2022年 / 28卷 / 01期
关键词：
Clone optimization; Forging robot; Input shaping; Residual vibration; Sliding mode control;
D O I：
10.13196/j.cims.2022.01.010
中图分类号：
学科分类号：
摘要：
To suppress the residual vibration of forging robot caused by the impact of forging press, a vibration suppression strategy combining input shaping and sliding mode was proposed. A zero vibration differential input shaper was designed in the open-loop control, and a sliding mode controller with filter was designed in the closed-loop control. By performing cloud mutation and reverse selection on the basic cloning algorithm, a cloning algorithm combing cloud model and reverse learning was designed to optimize the sliding mode parameters. The numerical test of residual vibration suppression was completed based on MATLAB / Simulink platform. The test results showed that the input shaper in open-loop control could reduce the amplitude of shock vibration signal by 45.7%, and the low-pass filter in the closed-loop control could eliminate the chattering of sliding mode controller by 92.1%. Compared with the traditional sliding mode controller of trial and error, differential genetic optimization and adaptive chaos clonal optimization, the clonal optimization combined with cloud model and reverse learning achieved fast suppression of sliding mode controller for external disturbance, and the stability time was relatively improved by 75.0%, 66.7% and 37.5%, and the average error was relatively reduced by 50.7%, 28.7% and 14.4%, while the complete control strategy realized an average suppression of 98.4% of the external vibration disturbance, which verified the effectiveness of the control strategy in the residual vibration suppression of forging robot. © 2022, Editorial Department of CIMS. All right reserved.
引用
收藏
页码：102 / 111
页数：9
相关论文
共 24 条
  • [1] MAGGIE C, ERIC L, KAMBIZ T, Et al., Effectively combining temporal projection noise suppression methods in magnetoencephalography, Journal of Neuroscience Methods, 341, 23, pp. 445-563, (2020)
  • [2] XIAO P, CAO S Y, ZU S H, Et al., Synchroqueezed wavelet transform based groundroll suppression, Journal of Applied Geophysics, 179, 13, pp. 223-372, (2020)
  • [3] BAI Xianglong, Discussion on the causes and counter measures of mechanical vibration in the process of machining, Total corrosion control, 34, 3, pp. 94-95, (2020)
  • [4] ARTHUR P, NAIMA G, SERGIY A, Et al., Influence of mechanical vibrations on quasi-2D silo discharge of spherical particles, Chemical Engineering Science, 224, 33, pp. 445-545, (2020)
  • [5] KIRJUKHIN A V, MILMAN O O, PTAKHIN A V, Et al., Experimental and calculation studies into the possibilities of improving the vibration isolation of power installation pipelines, Thermal Engineering, 67, 7, pp. 430-440, (2020)
  • [6] ZHANG Xiao, DU Kun, Characteristic analysis and design validation of compound rubber vibration isolator, Chinese Journal of Ship Research, 15, 6, pp. 149-154, (2020)
  • [7] DAN K T, SE-KNUDSEN R, BALLING O, Et al., Vibration control of industrial robot arms by multi-mode time-varying input shaping, Mechanism and Machine Theory, 155, 2, pp. 1-32, (2021)
  • [8] KOBILOV A, HONG S W., Delay-time adjustable input shaping method for positioning systems subject to repetitive motion, Journal of the Korean Society for Precision Engineering, 37, 1, pp. 25-34, (2020)
  • [9] JIN Guoguang, YU Jingxian, LIU Yanru, Et al., Research of dynamic modeling and vibration suppression for rigid-flexible manipulators, Journal of Tianjin Polytechnic University, 33, 6, pp. 65-69, (2014)
  • [10] HUANG Xuanrui, SONG Yuyang, LI Qiusheng, Et al., A vibration suppression algorithm for industrial robot joint servo system based on internal model control, Journal of Transactions of China Electrotechnical Society, 34, 3, pp. 497-505, (2019)
123