A Vibration Suppression Method of Pine Cone Picking Device Based on QL-SI Algorithm

Abstract

A method for suppressing vibration of a pine cone picking device based on the QL-SI algorithm, belonging to the technical field of picking machinery control, in order to solve the problem of inaccurate positioning of the equipment due to vibration when picking pine cones with a high firm position by using devices such as striking pine cone picking Accuracy and erratic operation prevent precise strikes on pinecone branches. Technical points: Take the coordinates of the hitting position of the mechanical arm as the abscissa of the Q table, the movement time is the time interval of the QL-SI algorithm, and the discrete value of the speed of the stepping motor is the ordinate of the Q table to create a table, select the action and calculate the Q value Stored in the form; design the reward function through the vibration measured by the attitude sensor on the robotic arm and the weight table of the reward function during its movement; obtain the QL-SI algorithm parameters through multiple trainings and optimize the reward through time minimization and synthesis According to the principle, the optimal Q table is obtained and the optimal parameter table of the QL-SI algorithm is obtained through calculation. This method can effectively suppress the vibration of the picking robot arm in an environment with uncertain parameters and has good robustness, and is used for vibration suppression of the pine cone picking device.

Description

technical field [0001] The invention specifically relates to a method for suppressing vibration of a pine cone picking device, and belongs to the technical field of picking machinery control. Background technique [0002] Pine cones not only have high nutritional value, but also pine bark is an important raw material for composite materials. At present, pine cone picking is still manual in most cases, which has the disadvantages of bad working environment, dangerous work and low efficiency. [0003] The prior art with a publication date of 2017-05-10 and a document number of CN106612956A also discloses a pine cone picking machine, which includes a tractor and a picking device arranged on the tractor; the picking device includes a power unit, a lifting part, vibrating part, and clamping part; the power part includes a hydraulic pump connected to the rear end of the power take-off shaft of the tractor, a hydraulic oil tank, and a multi-way control valve valve group; the lifti...

AI Technical Summary

Problems solved by technology

[0008] The invention aims to solve the problem of inaccurate positioning and unstable operation of the equipment due to vibration when picking pine cones with a high firm position by using equipment such as hitting-type pine cone picking, which makes it impossible to accurately hit the pine cone branches and affects the pine cones. The problem of picking operation efficiency, and then provides a vibration suppression method of pine cone picking device based on QL-SI algorithm

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