The mechanical arm control based on harmony search genetic algorithm
作者: Zhaolan HeBo PanZongze LiuXianxian Tang
作者单位: 1Harbin University of Science and Technology
2Harbin Institute of Technology
刊名: Cluster Computing, 2017, Vol.20 (4), pp.3251-3261
来源数据库: Springer Journal
DOI: 10.1007/s10586-017-1053-7
关键词: Harmony search algorithmGenetic algorithmMechanical armPID control
英文摘要: Considering the low efficiency and instability of traditional genetic algorithm optimized PID controller, an improved algorithm named harmony search genetic algorithm to optimize PID controller’s parameters of mechanical arm is proposed in this paper. Using harmony search algorithm in the initial population generation process of genetic algorithm improved the algorithm’s performance. Harmony search genetic algorithm is more suitable to optimize PID controller’s parameters than traditional genetic algorithm in six degrees of freedom mechanical arm system. Compared to the traditional control optimization method, as shown in the simulation results, the new kind of optimization method is better in both validity and stability.
原始语种摘要: Considering the low efficiency and instability of traditional genetic algorithm optimized PID controller, an improved algorithm named harmony search genetic algorithm to optimize PID controller’s parameters of mechanical arm is proposed in this paper. Using harmony search algorithm in the initial population generation process of genetic algorithm improved the algorithm’s performance. Harmony search genetic algorithm is more suitable to optimize PID controller’s parameters than traditional genetic algorithm in six degrees of freedom mechanical arm system. Compared to the traditional control optimization method, as shown in the simulation results, the new kind of optimization method is better in both validity and stability.
全文获取路径: Springer  (合作)
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来源刊物:
影响因子:0.776 (2012)

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关键词翻译
关键词翻译
  • algorithm 算法
  • harmony 
  • genetic 遗传的
  • mechanical 机械的
  • control 控制
  • search 搜索
  • optimize 优选
  • improved 改进
  • traditional 传统
  • optimization 最佳化