模拟退火算法优化转运小车转向的梯形机构设计

Optimization of Trapezoidal Mechanism Design for Transfer Trolley Steering by Simulated Annealing Algorithm

转运小车转向的梯形机构的模型设计中,转向梯形底角和梯形臂长度两个设计变量的最佳组合精度,对转运小车的转向性能和操纵稳定性有着直接影响,提出模拟退火算法的转运小车转向梯形机构模型优化设计方法。分析转运小车的理想转向过程和实际转向过程,创建转运小车转向梯形机构设计模型。构建该模型的目标函数,确保转运小车外前转向轮理论转角和实际转角的相对误差加权求和最小。利用模拟退火算法求解该模型,并引入群智能方法改进原算法,得到转运小车转向梯形底角和梯形臂长度两个设计变量的最佳组合。实验结果表明:转运小车的转向梯形底角和梯形臂长度分别为79.1 deg、78 mm时,该方法所求为最优解,此时转运小车进行任意转向运动时的外前转向轮理论转角和实际转角的相对误差均低于0.15%。

In the model design of the trapezium mechanism for transfer trolley steering,the optimal combination accuracy of the two design variables,the bottom angle of the steering trapezium and the length of the trapezium arm,has a direct impact on the steering performance and handling stability of the transfer trolley.A simulated annealing algorithm is proposed for the optimization design of the trapezium mechanism model for transfer trolley steering.The ideal steering process and the actual steering process of the transfer trolley are analyzed,and the design model of the trapezoidal steering mechanism of the transfer trolley is created.The objective function of the model is constructed to ensure that the weighted sum of the relative errors between the theoretical and actual steering wheel angles of the external front steering wheel of the transfer trolley is minimized.The simulated annealing algorithm is used to solve the model,and the swarm intelligence method is introduced to improve the original algorithm.The optimal combination of two design variables,namely the bottom angle of the trapezium and the length of the trapezium arm,is obtained.The experimental results show that when the bottom angle of the trapezium and the length of the trapezium arm of the transfer trolley are 79.1 deg and 78 mm,respectively,the method is the optimal solution.At this time,the relative errors of the theoretical and actual steering angles of the outer front steering wheel of the transfer trolley are less than 0.15%.