基于动态规划的冗余机械臂液压驱动系统能量优化

Energy optimization of hydraulic drive system based on dynamic programming

冗余机械臂液压驱动系统在执行任务时,消耗能源比较严重,从而造成了资源浪费.对此,创建冗余机械臂液压驱动机构平面运动简图,采用负载传感系统控制液压泵排量.建立机械臂动力学模型,构造目标函数并添加约束条件,对动态系统进行离散化.采用动态规划算法对目标函数进行优化,搜索出最优调节控制策略.结合具体实例,采用Matlab软件对机械臂液压驱动系统能量消耗进行仿真.结果表明:机械臂液压系统采用动态规划算法优化后,其消耗的功率较小.采用动态规划算法优化冗余机械臂液压驱动系统,能够节约资源,提高液压驱动系统运动的稳定性.

At present,the redundant manipulator hydraulic drive system consumes more energy during the mission,which leads to waste of resources.In this paper,we create a schematic diagram of the plane motion of the hydraulic drive mechanism of the redundant manipulator,and control the displacement of the hydraulic pump with the load sensing system.The mechanical arm dynamics model is established,the objective function is constructed and the constraint conditions are added,and the dynamic system is discretized.A dynamic programming algorithm is used to optimize the target function and find the optimal control strategy.Combining with specific examples,Matlab software is used to simulate the energy consumption of the hydraulic drive system of the mechanical arm.The results show that the power consumption of the mechanical arm hydraulic system is less than that of the dynamic programming algorithm.The dynamic programming algorithm is used to optimize the hydraulic drive system of redundant manipulator,which can save resources and improve the stability of hydraulic drive system.