| 黄文建,刘放,李晨晖,杨明发,吴宝宁.基于代理模型的柔性机械臂区间不确定性分析[J].计算力学学报,2024,41(6):1005~1011 |
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| 基于代理模型的柔性机械臂区间不确定性分析 |
| Interval uncertainty analysis of flexible manipulator based on surrogate model |
| 投稿时间：2023-07-15 修订日期：2023-09-08 |
| DOI：10.7511/jslx20230715001 |
| 中文关键词: 柔性机械臂 区间分析 不确定参数 代理模型 Chebyshev多项式 |
| 英文关键词:flexible manipulator interval analysis uncertain parameters surrogate model Chebyshev polynomials |
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| 摘要点击次数: 44 |
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| 中文摘要: |
| 针对柔性机械臂系统中不确定参数引起的动态响应不确定性问题,给出了一种基于局部均值分解(LMD)和Chebyshev代理模型(CM)的区间不确定性分析方法。基于LMD方法将柔性机械臂的非线性响应分解为若干分量,并解析出表征信号的瞬时幅值、瞬时相位和趋势项,通过对分解后的信号构建Chebyshev代理模型进而得到柔性机械臂的完整代理模型。提出的柔性机械臂不确定性分析方法能够改善传统CM方法在长时程分析中区间边界失效的现象,以算例说明了本文方法应用于柔性机械臂系统不确定性分析的有效性和准确性。 |
| 英文摘要: |
| Aiming at the uncertainty of dynamic responses caused by uncertain parameters in flexible manipulator systems,an interval uncertainty analysis method based on local mean decomposition(LMD)and Chebyshev surrogate model(CM)was proposed.Based on the LMD method,the nonlinear response of the flexible manipulators is decomposed into several components,and the instantaneous amplitude,instantaneous phase and trend term of the signal are analyzed.The Chebyshev surrogate model is constructed for the decomposed signal,and then the complete surrogate model of the flexible manipulators is obtained.The proposed uncertainty analysis method for flexible manipulator can improve the phenomenon of interval boundary failure in traditional CM methods in long-term analysis.A numerical example is used to demonstrate the effectiveness and accuracy of this method in uncertainty analysis of flexible manipulator systems. |
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