关键词: 锻造机器人, 残余振动, 输入整形, 滑模控制, 克隆优化

Abstract: To suppress the residual vibration of forging robot caused by the impact of forging press,a vibration suppression strategy combining input shaping and sliding mode was proposed.A zero vibration differential input shaper was designed in the open-loop control,and a sliding mode controller with filter was designed in the closed-loop control.By performing cloud mutation and reverse selection on the basic cloning algorithm,a cloning algorithm combing cloud model and reverse learning was designed to optimize the sliding mode parameters.The numerical test of residual vibration suppression was completed based on MATLAB/Simulink platform.The test results showed that the input shaper in open-loop control could reduce the amplitude of shock vibration signal by 45.7%,and the low-pass filter in the closed-loop control could eliminate the chattering of sliding mode controller by 92.1%.Compared with the traditional sliding mode controller of trial and error,differential genetic optimization and adaptive chaos clonal optimization,the clonal optimization combined with cloud model and reverse learning achieved fast suppression of sliding mode controller for external disturbance,and the stability time was relatively improved by 75.0%,66.7% and 37.5%,and the average error was relatively reduced by 50.7%,28.7% and 14.4%,while the complete control strategy realized an average suppression of 98.4% of the external vibration disturbance,which verified the effectiveness of the control strategy in the residual vibration suppression of forging robot.

Key words: forging robot, residual vibration, input shaping, sliding mode control, clone optimization