Piezoelectric active vibration control method of rigid flexible hybrid manipulator based on PSO

Abstract

In order to solve the problems of parameter optimization effectiveness and low control accuracy of traditional piezoelectric control method for rigid flexible hybrid manipulator, a new active piezoelectric control method for rigid flexible hybrid manipulator based on PSO is proposed in this paper. According to the optimization performance of particle swarm optimization, the vibration parameters of rigid flexible hybrid manipulator are optimized by particle swarm optimization. Based on the optimized vibration parameters of the rigid flexible hybrid manipulator, the mean value of vibration intensity and the amount of piezoelectric charge in the stationary phase of the vibration signal of the manipulator are calculated, and the piezoelectric active control equation of the manipulator is constructed. Under the initial constraints, the piezoelectric active control equation of the manipulator is solved to complete the piezoelectric active control of the rigid flexible hybrid manipulator. The experimental results show that the proposed method can effectively optimize the vibration parameters of the manipulator, and has high vibration control accuracy and strong practicability.