Input shaper closed-loop control method based on chaotic particle swarm optimization algorithm

Abstract

The invention relates to an input shaper closed-loop control method based on a chaotic particle swarm optimization algorithm and belongs to the technical field of methods for drive control in the coaxial transmission machine start process. In order to solve the buffeting problem in the coaxial transmission machine start process, closed-loop control is performed on a transmission mechanism with the control method, and the effectiveness and the feasibility of the control method are proved by experimental results. In an offline state, a double-pulse input shaper is optimized through the chaotic particle swarm optimization algorithm, optimization parameters of the double-pulse input shaper are obtained, and then a PD closed-loop actuating mechanism is controlled through the optimized input shaper. The input shaper parameter self-tuning control algorithm based on chaotic particle swarm optimization is provided for solving the buffeting problem in the coaxial transmission printing machine start process. Due to the control, a system can respond fast without vibration while torsional vibration of the system is substantially suppressed.

Description

technical field [0001] The invention relates to a closed-loop control method of an input shaper based on a chaotic particle swarm optimization algorithm, and belongs to the technical field of drive control methods in the start-up process of coaxial transmission machinery. Background technique [0002] During the start-up process of the coaxial transmission printing machine, due to the long-axis connection, the long transmission distance between the shafts, the low stiffness of the system, the heavy load and many other factors, the torsional vibration will occur during the start-up. The torsional vibration phenomenon is not only It affects the steady-state time of the start-up process, and it will also bring a great impact to the transmission shaft, thereby affecting the service life of the printing press. [0003] For the above reasons, the input shaper method is used to filter the system in time domain. However, the traditional zero-oscillation input shaper requires precise...

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Problems solved by technology

[0002] During the start-up process of the coaxial transmission printing machine, due to the long-axis connection, the long transmission distance between the shafts, the low stiffness of the system, the heavy load and many other factors, the torsional vibration will occur during the start-up. The torsional vibration phenomenon is not only It affects the steady-state time of the start-up process, and it will also have a great impact on the drive shaft, thus affecting the service life of the printing press

[0003] For the above reasons, the input shaper method is used to filter the system in time domain. However, the traditional zero-oscillation input shaper needs to be accurately modeled, and the parameters interact with each other, making tuning difficult.

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