移动焊接机器人控制性能评价方法研究

基于混合动力系统驱动的移动焊接机器人是一个非线性、强耦合的系统,控制参数对系统的控制特性影响不同。为改善焊接机器人的控制特性,有必要研究一种评价方法来探讨这些参数对系统的影响程度。系统的控制特性主要包括:运行性、稳定性、经济性三个方面。基于移动焊接机器人的综合评价模型,提出了一种结合信息熵和核主成分分析的综合评价方法。信息熵用于建立系统综合评价模型,核主成分分析将数据线性化并降维。研究结果表明,在保证系统信息量的基础上,该方法能较好地处理和分析各种指标数据之间的非线性关系,减少综合评价分析处理的数据量,可以提高焊接机器人系统的综合评价效率。

Research on evaluation method of control performance of mobile welding robot

Mobile welding robot based on a hybrid power drive system is a non-linearity, strongly coupling system. And control parameters have different effects on control performance of the system. In order to improve control characteristics of welding robot, it is necessary to study an evaluation method to explore the impact of these system parameters. Control characteristics of the system mainly include three aspects, such as performability, stability, economy. Therefore, a comprehensive evaluation of mobile welding robot is established, which combines information entropy with kernel principal component analysis. Besides, information entropy is used to establish the evaluation model, and kernel principal component analysis is adopted to linearize data and reduce dimension. The results show that this method can do well in treating and analyzing the nonlinear relation between various indexes on the basis of ensuring information content of the system, which reduces data amount processed by comprehensive evaluation analysis and improves comprehensive evaluation efficiency of mobile welding robot system.