含间隙曲柄滑块机构自适应鲁棒控制研究.

Aiming at the problems of system stability, accuracy and reliability reduction caused by the clearance of the slider crank mechanism, the improved PSO algorithm is used to identify the slider crank mechanism with clearance, and the error generated by the clearance is applied with adaptive lubrication. The stick controller is compensated. Firstly, the traditional PSO algorithm is improved by adopting the non-linear decreasing method for the inertia factor and the weighted average method for the local optimal value; then, the traditional PSO algorithm and the improved PSO algorithm are used to analyze the crank slip with clearance. The block mechanism was identified; finally, an adaptive robust controller was designed to compensate for the error caused by the crank-slider mechanism gap. The research results show that compared with the traditional PSO algorithm, the application of the improved PSO algorithm has higher accuracy on the model established by the system identification; the signal tracking accuracy of the designed adaptive robust controller is improved by about 51% on average. [ABSTRACT FROM AUTHOR]