五自由度摇摆台位置正解方法研究及 MATLAB实现

摘要

A practical algorithm for position forward solution of an asymmetric 5DOF swing platform was studied. The solution problem for a set of nonlinear equations which described the 5DOF swing platform was translated into function optimization. The particle swarm optimization (PSO)and Newton iteration algorithm were combined to solve the problem. And MATLAB PSO toolbox was used to implement the position forward solution of the 5DOF swing platform. The comparison of experiment results shows that using the algorithm combining PSO algorithm with Newton iteration algorithm in is better than just using the PSO algorithm only,both in real time aspects and precision.%　　研究一种实用非对称五自由度摇摆台的位置正解算法。把描述五自由度摇摆台的一组非线性方程组的求解问题转化成对函数的优化问题，采用粒子群优化算法和Newton迭代法相结合的方法求解问题，并采用粒子群算法工具箱实现了五自由度摇摆台的位置正解。通过比较试验结果，发现采用PSO算法和Newton迭代法相结合的方法在精度方面比单纯采用PSO算法高，并且兼顾了实时性的要求。