[1]赵庆岩,黎杰,吴顺,等.基于遗传算法优化的机械臂动态矩阵预测控制[J].郑州大学学报(工学版),2020,41(01):32-37.[doi:10.13705/j.issn.1671-6833.2020.01.005]
　Zhao Qingyan,Li Jie,Wu Shun,et al.Dynamic matrix predictive control of manipulators based on genetic algorithms[J].Journal of Zhengzhou University (Engineering Science),2020,41(01):32-37.[doi:10.13705/j.issn.1671-6833.2020.01.005]
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基于遗传算法优化的机械臂动态矩阵预测控制()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
41
期数:
2020年01期
页码:
32-37
栏目:
出版日期:
2020-03-10

文章信息/Info

Title:
Dynamic matrix predictive control of manipulators based on genetic algorithms
作者:
赵庆岩; 黎杰; 吴顺; 涂海波; 汤奇荣
同济大学机械与能源工程学院
Author(s):
Zhao Qingyan; Li Jie; Wu Shun; Tu Haibo; Tang Qirong
School of Mechanical and Energy Engineering, Tongji University
关键词:
动态矩阵预测控制控制权矩阵遗传算法离线调参
Keywords:
dynamic matrix predictive controlcontrol matrixgenetic algorithmoffline parameter adjustment
DOI:
10.13705/j.issn.1671-6833.2020.01.005
文献标志码:
A
摘要:
动态矩阵预测控制（Dynamic matrix predictive control, DMC）作为线性系统过程控制的一种常用方法，其控制效果受其控制权矩阵等参数影响较大。针对DMC算法控制权参数矩阵离线调参问题，根据控制系统输入、输出参数设计适应度函数,提出了一种基于遗传算法优化的DMC方法，以单关节机械臂作为被控对象，设计了DMC控制系统来进行控制对象单位阶跃响应采样以及遗传算法离线调参，并用该控制系统以及遗传算法所得参数进行仿真验证。结果表明，通过遗传算法可快速、精准获得具有较优输出效果的DMC算法控制权参数矩阵，为采用DMC进行机械臂控制提供了便利。
Abstract:
Dynamic matrix predictive control (DMC) is a common method for process control of linear systems. Its control effect is greatly affected by the parameters of its control weighting matrix. Aiming at the off-line parameter adjustment of parameter of control weighting matrix of DMC algorithm, a method of optimizing DMC is presented in this paper and fitness function based on input and output parameters of control system is designed . With a single-joint manipulator as the controlled object, a DMC control system is designed to sample the unit step response of the controlled object and adjust the parameters offline by genetic algorithm. The parameters of the system and the genetic algorithm are verified by simulation then . The results show that the parameters of control weighting matrix of DMC algorithm with better output can be obtained quickly and accurately after optimized using genetic algorithm, which is convenient to use DMC for manipulator control
更新日期/Last Update: 2020-02-22