摘要
为了解决矿用加水机械臂动力学参数辨识精度问题,提出了一种改进的ISSA算法对动力学参数进行辨识。在改进的ISSA算法过程中,改进Logistic映射函数,以生成多样化变量种群,提高辨识种群的多样性与适应性;调用动态比例调整函数,实现对种群的全面辨识;改进搜索位置更新策略,提高算法的收敛精度;引入Tent扰动和柯西扰动函数,增强对辨识种群的适应性。经机械臂动力学辨识实验,获得了不同关节的激励轨迹、关节力矩、算法收敛图以及算法结果。结果表明,改进后的ISSA算法在准确性、收敛速度等方面性能明显优于传统的SSA算法,为动力学参数辨识问题提供了一种新的解决思路。
In order to solve the problem of the identification accuracy of dynamic parameters of mine water filling water filling robotic arm,an improved ISSA algorithm was proposed to identify the dynamic parameters.In the process of improving ISSA algorithm,Logistic mapping function was improved to generate diverse variable populations and improve the diversity and adaptability of identified populations.The dynamic proportional adjustment function is adopted to achieve comprehensive identification of the population;Search location update strategy is improved to boost the convergence accuracy of the algorithm;The tent perturbation and Cauchy perturbation functions were introduced to enhance the adaptability to the identification of populations.Through the dynamic identification experiment of robotic arm,the excitation trajectories,joint moments,algorithm convergence diagrams and algorithm results of different joints were obtained.The results show that the improved ISSA algorithm has obvious performance in terms of accuracy and convergence speed,which provides a new solution to the problem of dynamic parameter identification.
作者
赵忠奇
荣宝
白宝山
于海成
卢进南
ZHAO Zhongqi;RONG Bao;BAI Baoshan;YU Haicheng;LU Jinnan(Open-Pit Coal Mine,Guoneng Baorishile Energy Co.,Ltd.,Hulunbuir 021008,China;College of Mechanical Engineering,Liaoning Technical University,Fuxin 123000,China)
出处
《陕西煤炭》
2025年第7期107-111,165,共6页
Shaanxi Coal
关键词
加水机械臂
动力学识别
算法改进
优化求解
water filling robotic arm
kinetic identification
algorithm improvements
solution optimization
