68results about How to "Suppress chatter" patented technology

The invention discloses a mechanical arm specified performance high-precision trajectory control method based on an improved super-torsion expansion state observer. The mechanical arm specified performance high-precision trajectory control method comprises the following steps that a dynamic model of an n-joint mechanical arm is established; the kinetic model of the n-joint mechanical arm is re-described as a mechanical arm kinetic model based on total disturbance; an improved super-torsion expansion state observer is designed to estimate the total disturbance in the mechanical arm dynamic model based on the total disturbance; and according to the equivalent control law, the switching control law and the total disturbance estimation value, a recursive integral sliding mode controller based on funnel error transformation is constructed, and trajectory tracking of the mechanical arm is achieved. According to the method, the convergence speed of the system can be effectively improved, the buffeting phenomenon in the system can be effectively inhibited, and meanwhile, the method has good anti-interference performance.

The invention provides a dexterous hand finger joint angle control method, device and system and a medium, and relates to the technical field of dexterous hands. The joint angles of the fingers of the dexterous hand comprise the first joint angle and the second joint angle, the first joint angle and the second joint angle belong to active degrees of freedom, and the control method for the joint angles of the fingers of the dexterous hand comprises the steps that a control instruction for the fingers of the dexterous hand is obtained; according to the control instruction, the tracking control law of the first joint angle and the tracking control law of the second joint angle, the first joint angle and the second joint angle are controlled, the tracking control law of the first joint angle and the tracking control law of the second joint angle are determined based on a superspiral sliding mode control algorithm and a dynamic model of the finger. Through the tracking control law designed based on the super-spiral sliding mode control algorithm and the dynamic model, the stability and precision of dexterous hand finger joint angle control are improved.

The invention discloses an autonomous underwater robot system over-torque sliding mode control trajectory tracking method based on an improved adaptive law. The method comprises the following steps: establishing a six-degree-of-freedom autonomous underwater robot dynamic model; converting the six-degree-of-freedom autonomous underwater robot dynamical model, and constructing a six-degree-of-freedom autonomous underwater robot dynamical model based on lumped disturbance; designing a synchronization time estimator to estimate the lumped disturbance in the six-degree-of-freedom autonomous underwater robot kinetic model based on the lumped disturbance; and based on a sliding mode surface, a synchronization time estimator and a hyperbolic tangent function, designing a super-twist sliding mode controller based on an improved adaptive law, and realizing trajectory tracking of the autonomous underwater robot. According to the invention, buffeting of the system can be effectively suppressed while rapid convergence of the system is ensured.

The invention discloses an involute spur gear meshing stiffness optimization method for modification based on dynamic transmission errors, which is characterized in that the involute tooth profile is accurately modeled, the meshing stiffness is calculated by adopting a Weber energy method, and the impact generated by single-tooth and double-tooth meshing alternation is reduced through tooth profile modification, so that the transmission errors are reduced, and the involute spur gear meshing stiffness is optimized. The technology is applied to an idle gear system, and the meshing rigidity is iteratively optimized by establishing an idle gear nonlinear kinetic equation and analyzing dynamic transmission errors responded by the system until the requirements for transmission precision and design strength are met.

The invention discloses a composite wing unmanned aerial vehicle transition process control method based on a fractional order sliding mode, and particularly relates to the field of composite wing unmanned aerial vehicle flight control. A Newton-Euler equation is adopted to carry out integrated modeling on a composite wing unmanned aerial vehicle transition process, and a longitudinal nonlinear mathematical model is deduced; designing a novel fractional order reaching law by combining a double-power reaching law and a fractional order calculus thought on the basis of a traditional exponential power reaching law, and constructing a pitch angle, air speed and four-rotor height fractional order sliding mode controller; and force and torque of the four-rotor system and the fixed-wing system are distributed by adopting an airspeed weight control distribution strategy, so that output of an actuator is solved. The sliding mode variable structure control is applied to the transition control of the composite wing unmanned aerial vehicle, and the proposed fractional order sliding mode control method improves the dynamic quality of the system, reduces the control steady state error, improves the robustness of the flight control system of the composite wing unmanned aerial vehicle, and realizes the stable control of the transition process.

The invention provides an intelligent vehicle steer-by-wire motor control method. A steer-by-wire motor adopts double closed-loop control of a corner loop and a current loop; the corner loop is controlled by an improved nonlinear active-disturbance-rejection controller, and the current loop is controlled by a fractional order PID (Proportion Integration Differentiation) controller; the improved non-linear active disturbance rejection controller comprises an improved third-order non-linear extended state observer and a non-linear state error feedback control law, wherein the non-linear state error feedback control law adopts super-spiral second-order sliding mode control. According to the method, the disturbance resistance and robustness of the steer-by-wire motor system are enhanced, the estimation precision of the observer is improved, and the tracking performance of the steer-by-wire motor is improved.

The invention provides an air suction and exhaust device, a compressor and refrigeration equipment. The air suction and exhaust device comprises a crankcase; the valve plate is provided with a first air suction port; the first air suction valve plate is arranged on the side, facing the crankcase, of the valve plate, the first air suction valve plate comprises a first valve flap and a second air suction port, the second air suction port is formed in the first valve flap and communicates with the first air suction port, and the first valve flap can move relative to the valve plate; the second air suction valve plate is arranged on the side, facing the crankcase, of the first air suction valve plate, the second air suction valve plate comprises a second valve flap, and the second valve flap can move relative to the valve plate so as to open or close the second air suction port; the rigidity of the second valve flap is smaller than that of the first valve flap, the efficiency of the compressor during low-rotating-speed operation can be improved, the refrigerating capacity of the compressor during high-rotating-speed operation can be improved, and in other words, the performance requirements of the compressor during low rotating speed and high rotating speed are met at the same time.

The invention provides an electric power system chaotic oscillation control method and system based on a reactive power compensation device. The method comprises the following steps: establishing a mathematical model of an interconnected dual-machine electric power system containing an SVC according to a kinetic equation; simplifying the mathematical model to obtain a simplified mathematical model; designing a sliding mode control function; determining a relation function between the coefficient of the exponential reaching law and the sliding hyperplane; a three-layer feedforward neural network is constructed, and training is carried out through an operation data set of the interconnected dual-computer power system containing SVC according to the relation function; the neural network calculates an adjustment value of a sliding mode control parameter and a compensation value for system uncertainty according to the input state variable; finally, the control signal acts on the interconnected dual-machine power system of the SVC, and the system state is guided to converge to a stable state. Through the combination of the neural network and sliding mode control, the resistance of the whole reactive power compensation system to the interference is further enhanced, and the stable operation and control precision of reactive power compensation are ensured.

The invention discloses a milling method and device based on dynamic parameter adjustment and electronic equipment, and the method comprises the steps: firstly, setting a preliminary milling parameter and a milling basic path according to the machining information of a target workpiece, dividing each milling unit into a central region and an edge region, firstly, carrying out the pre-milling of the central region according to the preliminary milling parameter, and carrying out the pre-milling of the edge region according to the edge region; by monitoring a flutter signal of the milling cutter in real time and dynamically adjusting the preliminarily set milling parameters according to the amplitude of the flutter signal, it can be ensured that stable cutting is conducted through the optimized cutting parameters when the edge area is cut, flutter is effectively restrained, and therefore the stability of the whole milling process is enhanced; the probability that the workpieces are unqualified due to the chatter phenomenon is reduced; the method can be applied to various types of milling numerical control machine tools and part machining, the machining efficiency and quality can be improved, the method adapts to different materials and cutting conditions, human intervention and machining cost can be reduced, and the method has high applicability in actual use.

The invention discloses an unmanned mine car slip rate control method based on superhelix second-order sliding mode control. The method comprises the following steps: deriving a second-order slip rate system kinetic equation based on a wheel kinetic model; introducing a steepest differential tracker to carry out slip rate differential estimation; converting the second-order slip rate kinetic equation into an error variable form for expression; designing a non-singular sliding mode surface according to a fixed time convergence theorem, and calculating the control rate of second-order sliding mode control based on a superhelix algorithm: issuing a braking torque control signal to a hydraulic braking control unit of the unmanned mine car, and further adjusting the braking pressure of a wheel cylinder. The method has the advantages that the actual slip rate of the wheels is controlled to be close to the target slip rate, the locking phenomenon is prevented when the mine car is braked, and the braking efficiency and safety of the mine car are improved.

The invention relates to the technical field of part machining, and discloses a multi-station anti-vibration cutter stabilizing mechanism for carbon fiber part machining, which comprises a cutter chuck arranged on machining equipment; the milling cutter is used for machining parts; and the clamping mechanism is arranged on the cutter chuck and used for stably clamping the milling cutter, the clamping mechanism comprises a hollow sleeving ring, and the hollow sleeving ring axially moves after rotating. According to the multi-station anti-vibration cutter stabilizing mechanism for machining the carbon fiber parts, the positioning mechanism is arranged, and an axial hard positioning structure capable of being locked is arranged at the end of a milling cutter, so that end mechanical jacking and position locking are synchronously achieved after radial clamping of the cutter is completed, and the overall axial supporting rigidity of the cutter is remarkably improved; axial micro-motion and chatter caused by axial cutting force change and multi-station frequent reversing in the carbon fiber machining process are effectively restrained, and the quality defects such as layering and chatter marks on the machined surface are avoided.

The invention discloses a three-level T-type inverter grid-connected control method based on a sliding-mode observer, and relates to the technical field of grid-connected control. According to the three-level T-type inverter grid-connected control method based on the sliding-mode observer, a preset time sliding-mode control scheme based on the sliding-mode observer is provided, a continuous Sigmoid function is introduced to replace a nonlinear sign function to construct a sliding-mode observation reaching law, signals can be effectively and smoothly controlled, and the control precision of the three-level T-type inverter grid-connected control method based on the sliding-mode observer is improved. The inherent high-frequency buffeting phenomenon of traditional sliding mode control due to a sign function is remarkably suppressed, and meanwhile, the convergence speed and tracking precision of the system are improved. On the basis of observing power grid voltage serving as external disturbance through a sliding-mode observer, feedforward compensation is performed on the external disturbance, and the feedforward compensation is applied to a sliding-mode control reaching law of preset time so as to suppress buffeting and accelerate the convergence process of output current. And the timeliness and the stability of grid-connected control of the three-level T-type inverter based on the sliding-mode observer are improved.

The application discloses a high-temperature alloy turbine shaft deep hole boring special processing equipment and particularly relates to the turbine shaft processing technical field, which comprises an equipment base, the top end of the equipment base is fixedly installed with a vertical support, and the top of the vertical support is fixedly installed with a turbine shaft positioning mechanism. Through the nested sliding structure and independent driving system of the inner boring rod and the outer boring cylinder, the differential step-by-step boring timing of "the inner cutter first enters, the outer cutter follows, the inner cutter first retreats, and the outer cutter continues to feed" is realized. The inner boring cutter head enters the workpiece inner hole to perform one-time boring of a small hole first, retreats and is stored after completion, and the outer boring cylinder continues to feed to perform two-time boring of a large hole. The step-by-step processing mode decomposes large excess cutting into two times of step-by-step removal, effectively disperses the radial cutting force, avoids the aggravation of work hardening and tool blade collapse of the high-temperature alloy material caused by one-time large cutting amount, and improves the processing precision and tool life.

The utility model discloses a rotor bow based on NURBS type double curvature variable cross section type line belongs to steel wire rope manufacturing equipment rotor part technical field, and this rotor bow main part is NURBS type double curvature bending section, and the cross section width is gradually increased from the center to both ends along the length direction, each section is composed of elliptical streamline, intermediate horizontal line section and upper three point arc line compound, and the smooth continuous axial symmetry profile is formed. The main body both ends pass through lofting stretching transition section and equal cross section end portion fairing link. Through the coupling design of variable cross section geometry and double curvature bending structure, improve high -speed rotation dynamic balance, restrain eddy current and flutter, reduce vibration noise and optimize stress distribution, thereby promote the working stability of stranding machine and steel wire rope stranding quality.

The invention relates to the field of control, in particular to a multi-sensor data fusion slip form construction closed-loop control method and system, and the method comprises the steps: collecting the pressure and displacement data of each jacking fulcrum of a slip form device in real time; calculating a pressure compensation weight coefficient of the absolute value of the sliding mode variable in the previous period through an exponential attenuation function, weighting a pressure mean value and a reference pressure difference, multiplying the weighted pressure mean value and reference pressure difference by a pressure-displacement conversion coefficient to obtain an equivalent displacement compensation amount, adding the two values to obtain a comprehensive deviation, constructing a sliding mode surface function, and calculating the sliding mode variable; calculating a second norm of the time change rate of the pressure data, and determining the actual boundary layer thickness; the sliding mode control law comprises an equivalent part and a switching control part, when the absolute value of a sliding mode variable is larger than the thickness of a boundary layer, switching control is a fixed gain sign function, otherwise, switching control is a proportional term, and a global jacking speed reference instruction is generated; according to the difference value between the real-time pressure of each fulcrum and the pressure mean value, the speed differential adjusting amount is calculated through proportional-integral adjustment, and the speed differential adjusting amount and the global reference instruction are superposed to obtain the jacking speed control instruction of each fulcrum.

The invention relates to the technical field of wind generating sets, and discloses a wind generating set anti-blade flutter control method and device and electronic equipment. The method comprises the steps that the blade flutter early warning state of a set is obtained; executing variable-pitch control logic on the blade flutter early warning state of the unit to obtain a variable-pitch control result; and the rotating speed of the unit is protected in the variable pitch control process, and a rotating speed protection result is obtained. According to the anti-blade flutter control method and device for the wind turbine generator and the electronic equipment, the blade flutter risk area is recognized through the wind turbine generator according to the running state, low-rotating-speed running of the blades is maintained by adjusting the variable pitch angle, then blade flutter is restrained, the load of the wind turbine generator is effectively controlled, and safe and stable running of the wind turbine generator is ensured.

The invention discloses a finite time composite vibration suppression control method and system for same-frequency vibration of a magnetic bearing-rotor system. The finite time composite vibration suppression control method comprises the steps that a synchronous vibration component in rotor displacement is extracted through a same-frequency narrow-band tracking filter; performing phase lead correction by using an all-pass phase shifter, generating a feed-forward compensation force by combining an equivalent gain and electromagnetic linear model based on a feedback link, and offsetting a displacement stiffness force which causes vibration transmission from a physical source; a finite time same-frequency narrow-band extended state observer is constructed, and rapid and accurate finite time estimation is carried out on total disturbance including model mismatch; and designing a finite time nonsingular terminal sliding mode controller, fusing the feedforward compensation force and the disturbance estimation value, and generating a control law with a finite time convergence characteristic. According to the method, through cooperation of feed-forward compensation, finite time observation and finite time control, rapid convergence and high-robustness stabilization of same-frequency vibration and effective suppression of control buffeting under a dynamic working condition are realized.

The application relates to a kind of underactuated unmanned aerial vehicle cascade pose control methods based on torsor, belong to unmanned aerial vehicle control technical field.The method, first, establishes singular-free, constraint-free torsor pose integrated model, avoids dual quaternion normalization calculation burden;Then construct the outer loop position-inner loop attitude cascade structure adapted to the underactuated characteristics of four-rotor, the outer loop uses the Latin hypercube sampling improved gull optimization PD controller to generate the expected attitude instruction of dynamics feasibility, the inner loop adopts the preset performance hyperbolic sliding mode controller to output the unified control force screw containing thrust and torque.The application solves the adaptation problem that existing torsor control relies on full drive assumption, considers modeling uniformity and engineering landing, and can be popularized to various underactuated rigid body systems.

This application belongs to the field of DC bus voltage control, specifically disclosing a super-spiral sliding mode active disturbance rejection control method based on an RBF neural network, including the following steps: establishing a mathematical model of a bidirectional Buck / Boost circuit; designing an active disturbance rejection controller, which includes a tracking differentiator and an extended state observer; using an RBF neural network to dynamically optimize the gain parameters of the extended state observer in real time; constructing a super-spiral integral sliding mode controller to replace the nonlinear state error feedback loop in the active disturbance rejection controller; calculating a current reference signal based on the output signal of the tracking differentiator and the observation signal of the extended state observer through the super-spiral integral sliding mode controller; generating a drive signal based on the current reference signal to control the bidirectional Buck / Boost circuit to maintain the stability of the DC bus voltage. This application can effectively improve the stability and disturbance rejection capability of the DC microgrid bus voltage.

This invention relates to the field of palletizing robot technology, specifically a high-efficiency palletizing robot for pet food processing. It includes a mounting base on which a rotating platform is mounted, a robotic arm rotatably mounted on the rotating platform, a slewing support connected to the robotic arm, a mounting bracket at the lower end of the slewing support, and gripping claws mounted on the mounting bracket; a stabilizing support mechanism disposed inside the slewing support, used to improve stability during material transfer; and a lubrication compensation mechanism disposed inside the slewing support, used to reduce wear and tear on parts. The stabilizing support mechanism can adaptively adjust the support force according to the material weight, suppressing transfer sway and ensuring positioning accuracy; the lubrication compensation mechanism provides on-demand quantitative lubrication and ensures proper sealing protection. Together, these two mechanisms reduce wear on parts and ensure stable and efficient operation of the robot.

This invention belongs to the field of grinding and surface finishing technology, and relates to a follow-up resonant grinding and foreign matter removal device and process for power supply cables. The device includes a precision resonant actuation mechanism, a contour grinding head, a grinding impedance detection unit, and a frequency conversion grinding control center. Based on the electromechanical coupling impedance signal, the control center tracks the mechanical resonant point through phase-locked logic and adjusts the drive signal frequency, so that the contour grinding head with its segmented, clamping structure is in a resonant grinding state with the foreign matter on the surface of the power supply cable. The high-frequency vibration of the inner abrasive layer performs micro-cutting and shearing peeling of the foreign matter; and adaptive mode switching is achieved based on the dynamic characteristics of the impedance spectrum. This invention achieves non-destructive precision micro-grinding, efficiently removes ice buildup and improves the surface finish of the workpiece, avoiding damage from traditional rigid scraping, and is suitable for cleaning the surface of power supply cables such as cables.

A trajectory tracking control method for a Mecanum wheel mobile robot based on fuzzy inverse sliding mode includes the following steps: (A) establishing a multi-input multi-output model according to kinematic and dynamic mechanisms for an actual Mecanum wheel mobile robot; (B) designing an inverse sliding mode surface and an equivalent control law according to desired control performance; (C) designing a system state arrival control law based on the sliding mode surface and the equivalent control law set in step (B); (D) designing a fuzzy function to replace the sign function based on the inverse sliding mode control law designed in steps (B) and (C) to obtain a final control law so that chattering can be suppressed. The present invention provides a design method for a fuzzy inverse sliding mode control law that guarantees trajectory tracking performance for the control problem of a nonlinear multi-input multi-output Mecanum wheel omnidirectional mobile robot, which has high control accuracy and strong robustness and anti-interference.

The application relates to a flexible mechanical arm control method and system based on a fuzzy PID, and the method comprises the following steps: constructing a flexible mechanical arm dynamics model according to mechanical arm related parameters, a hypothetical modal method and a Lagrange method; decoupling the flexible mechanical arm dynamics model to generate a slow variable subsystem model and a fast variable subsystem model; establishing an extended state observer according to the slow variable subsystem model and an impfal function and generating an observed disturbance value; generating an improved linear sliding mode surface according to a flexible mechanical arm position tracking error and a state power item; deriving the improved linear sliding mode surface to generate a sliding film control law; generating a trajectory tracking control law according to the observed disturbance value and the sliding film control law; generating a vibration suppression control law according to the fast variable subsystem model, a fuzzy PID control algorithm and a mechanical arm end vibration amount; and combining the trajectory tracking control law and the vibration suppression control law to generate a total control law. The method has better anti-disturbance performance and vibration suppression performance.

The invention belongs to the technical field of permanent magnet synchronous motor control, and discloses a sensorless control method and device for a permanent magnet synchronous motor, and the method comprises the steps: building a super-spiral sliding-mode observer, introducing an observation error linear term in the super-spiral sliding-mode observer, and constructing a second-order sliding-mode model; constructing a back electromotive force adaptive optimization module in the super-spiral sliding mode observer by adopting a complex coefficient filter; constructing a phase-locked loop by adopting a fourth-order active-disturbance-rejection algorithm, and estimating a rotor position error in real time by adopting a state expansion observer; a primary linear expansion state observer and a secondary linear expansion state observer are connected in series to form an improved linear active disturbance rejection controller. According to the method, buffeting of the sliding-mode observer can be suppressed, and the counter electromotive force estimation precision is improved; the dynamic response capability of the system under the working conditions of medium-high speed and sudden loading is enhanced, the method is more suitable for complex working conditions of high speed, variable load and the like, and the robustness and the control precision of the system are remarkably improved.

The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a permanent magnet synchronous motor sensorless control method based on a full-order sliding mode observer. Comprising the following steps that after stator voltage u of the permanent magnet synchronous motor passes through an improved full-order sliding mode observer, a stator current observation value # imgabs0 # stator current observation error # imgabs1 # is output, and after the stator voltage u passes through an adaptive module and a control module in sequence, an adaptive sliding mode control function H (s) of the permanent magnet synchronous motor is output; the self-adaptive sliding mode control function H (s) enters the full-order sliding mode observer after passing through the sliding mode gain matrix K, and a back electromotive force observation value # imgabs2 # and a back electromotive force observation value # imgabs3 # are output as state variables to be fed back to the full-order sliding mode observer to participate in updating calculation; after a back electromotive force observation value # imgabs4 # is processed by an orthogonal phase-locked loop, a rotor position observation value # imgabs5 #, a rotating speed observation value # imgabs6 # and a rotating speed observation value # imgabs7 # are output and fed back to the full-order sliding-mode observer as input of the full-order sliding-mode observer; according to the invention, the response speed of the system is improved, and rotation speed estimation buffeting is inhibited.

The invention provides a robot flutter suppression method and device capable of achieving double-machine vibration, and belongs to the field of robot vibration suppression. The robot flutter suppression method comprises the steps that two servo motors are arranged on each joint of a robot, the servo motors are arranged in the extension directions of the joints, vibration exciters are arranged at the ends, away from rotating shafts of the joints, of the servo motors, and the servo motors are connected with a controller; an acceleration sensor connected with the controller is arranged on each joint of the robot; the controller calculates the rotating speed of the servo motor on the corresponding joint according to the voltage signals collected by the acceleration sensors; and the controller controls the two servo motors to act according to the rotating speeds of the two servo motors, so that the two servo motors respectively drive the vibration exciters of the servo motors to generate resultant force to act on inertia force on the corresponding joints so as to restrain flutter of the joints, and the process is continuously repeated. According to the method, flutter can be effectively suppressed, no burden is caused to a mechanical structure at the joint, and a controller with higher computing power is not needed.

The invention discloses a motor control system based on self-learning gain, which comprises a super-spiral sliding-mode observer of the self-learning gain, by monitoring current observation errors in real time and dynamically adjusting the sliding-mode gain, the sliding-mode gain is rapidly increased when the system is disturbed so as to enhance robustness, and is automatically reduced when the system tends to be stable so as to suppress buffeting; therefore, high-precision and high-robustness rotor position and rotating speed estimation is realized.

This invention discloses a method for adjusting the end effector stiffness of a hybrid robot used in the machining of thin-walled structural parts. The method first collects the proportional gain of each active branch servo drive system as the axial servo stiffness; secondly, it establishes a mapping model based on the robot configuration to solve for the equivalent axial servo stiffness of the end effector in the reference coordinate system; subsequently, it introduces stiffness weighting coefficients and combines them with the mechanical stiffness and electromechanical coupling stiffness performance evaluation index; finally, it uses a one-dimensional discrete search algorithm to traverse and filter redundant rotation angles that satisfy displacement and rotation constraints while keeping the end effector pose unchanged, aiming to maximize the electromechanical coupling stiffness index and generate an optimal sequence of redundant rotation angles. This invention establishes an electromechanical coupling model integrating mechanical and servo systems and adaptively adjusts the end effector stiffness using redundant degrees of freedom, which can effectively suppress cutting deformation and chatter during the machining of thin-walled parts while reducing computational complexity, significantly improving machining quality.

The invention discloses a flutter suppression sequence optimization method and device for non-periodically arranged blades, and relates to the technical field of blade flutter of turbomachinery. Determining the vibration frequency of each blade in the non-periodically arranged blades; obtaining an ant colony optimization algorithm oriented to aperiodically arranged blade flutter suppression sequence planning; wherein the updating mode of the pheromone concentration of the ant colony optimization algorithm in the ant colony algorithm iteration process is determined according to the aerodynamic damping corresponding to the blade with the minimum aerodynamic damping in each optimization sequence in the last iteration; the aerodynamic damping value of each blade is determined according to aerodynamic force influence on the blade caused by vibration of a plurality of adjacent blades in the optimization sequence where the blade is located; the heuristic information of the ant colony optimization algorithm is determined according to the deviation of the vibration frequencies of the blades and the dispersion of the vibration frequencies of all the blades; and optimizing the non-periodic arrangement sequence of the blades by using an ant colony optimization algorithm. According to the method, the flutter suppression effectiveness of the non-periodically arranged blades is improved.