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

摘要： 为抑制锻压机冲击对锻造机器人造成的残余振动,提出了融合输入整形和滑模的振动抑制策略。首先在开环控制中设计了零振动微分输入整形器;然后在闭环控制中设计了带滤波的滑模控制器;进一步通过对基本克隆算法进行云变异和反向选择,设计了融合云模型和反向学习的克隆算法并实现了滑模参数优化;最后基于MATLAB/Simulink平台完成了振动抑制的数值测试。测试结果表明,经过输入整形器整形,冲击振动信号幅值减少了45.7%;通过加入低通滤波器,消除了滑模控制器自身92.1%的抖振。与传统试凑、差分遗传优化和混沌克隆优化的滑模控制器相比,融合云模型和反向学习的克隆优化实现了控制器对外界干扰的快速抑制,且稳定时间相对提高了75.0%、66.7%和37.5%,平均误差相对减少了50.7%、28.7%和14.4%,而完整控制策略实现了平均98.4%的干扰抑制,从而验证了所提控制策略在锻造机器人残余振动抑制中的有效性。

关键词: 锻造机器人, 残余振动, 输入整形, 滑模控制, 克隆优化