CAJ | 학술논문

针对单杆柔性机械臂LQR( linear quadratic regulator)控制中加权矩阵参数的选择问题，提出了一种基于混合粒子群算法寻优加权矩阵参数的方法。首先，基于假设模态法和拉格朗日方程建立了单杆柔性臂的动力学模型，并推导出系统的控制模型。引入了遗传算法中交叉操作以加强粒子群算法中粒子间区域的搜索能力，改进了基本粒子群算法易陷入局部最优的问题。最后，仿真结果表明基于混合粒子群算法迭代寻优得到的加权矩阵参数与经验值相比具有更优的控制效果。而且，与传统采用的遗传算法优化加权矩阵参数方法相比，具有较快的搜索和收敛速度，且具有需要调节的参数少、概念简单、实现容易的特点。
침대단간유성궤계비LQR( linear quadratic regulator)공제중가권구진삼수적선택문제，제출료일충기우혼합입자군산법심우가권구진삼수적방법。수선，기우가설모태법화랍격랑일방정건립료단간유성비적동역학모형，병추도출계통적공제모형。인입료유전산법중교차조작이가강입자군산법중입자간구역적수색능력，개진료기본입자군산법역함입국부최우적문제。최후，방진결과표명기우혼합입자군산법질대심우득도적가권구진삼수여경험치상비구유경우적공제효과。이차，여전통채용적유전산법우화가권구진삼수방법상비，구유교쾌적수색화수렴속도，차구유수요조절적삼수소、개념간단、실현용역적특점。
A optimization method of the weighted matrix parameters based on hybrid particle swarm algo-rithm is presented for the LQR control of single flexible manipulators. First, the dynamic model of the single flexible manipulator is established by the assumed mode method and the Lagrange equations. Then, the model of control system is derived by the dynamic model which is written as a matrix equation. The crossing operator of genetic algorithm is introduced into the particle swarm algorithm to strengthen the search ability of particles area, and improve the basic particle swarm optimization algorithm which is easy to fall into local optima. Finally, the numerical simulation results show that the control effects of the iterative optimization parameter of the weighted matrix based on the hybrid particle swarm algorithm is better than the method of experience value. In addition, when it was compared with the genetic algorithm, a traditional weighted ma-trix parameters optimization methods, the hybrid particle swarm algorithm has small number of tuning pa-rameters, simple concepts and easy realization.