基于改进蜂群PID算法的高速摆臂机构抑振研究

Resist Resonance Research of High Speed Swing Arm Mechanism Based on Improved Bee Colony PID Algorithm

频繁短行程启停的摆臂机构在点对点高速定位过程中,由于外部干扰、机械共振模态等非线性特征不同程度地影响系统的伺服性能,极易引起系统的谐振,降低封装设备芯片键合的效率等问题。针对以上问题,提出一种基于交叉全局的人工蜂群PID算法,用于抑制负载末端机械谐振。通过建立电机——负载双惯量模型,理论分析谐振形成原理和对伺服系统的影响,实验结果表明负载末端谐振得到了有效地控制,定位效率提高了9.1%,并验证了算法仿真结果的有效性。

In the process of point-to-point high-speed positioning,the swing arm mechanism with frequent short-stroke start-stop affects the servo performance of the system due to external disturbances and mechanical resonance modes,which can easily cause the system resonance and reduce the positioning of the package device accuracy and efficiency,it is difficult to fast,smooth and accurate chip bonding problems.In view of the above problems,this paper proposes a crossover global artificial bee colony PID algorithm,which is used to restrain the load end position resonance.Through the establishment of the motor——load dual inertia model,theoretical analysis of the resonance formation principle and the impact on the servo system and set up an experimental platform,the results show that the load end resonance has been effectively controlled,positioning accuracy and efficiency increased by 9.1%,verified the algorithm Simulation results and the validity of experimental result.