遺伝的アルゴリズムによるロバスト制振補償器の自律設計

概要

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This paper presents an evolutionary algorithm for the robust vibration suppression controller design in mechatronics systems, using a Genetic Algorithm (GA). The control system is composed of a robust 2-degrees-of-freedom (2DOF) compensator based on the coprime factorization description. In the research, an on-site autonomous algorithm for the compensator design is proposed, where the optimal combination of the compensator free parameters can be tuned by the genetic process so that the real plant output should coincide with the reference one which satisfies the specified control performance. The effectiveness of the proposed optimal design has been verified by experiments using a prototype, paying attention to the system robustness against variations of mechanical parameters.
公益社団法人精密工学会の論文
2000-10-05