GA-based auto-tuning of vibration suppression controller for positioning devices with strain wave gearings

Masafumi Yamamoto, Yoshifumi Okitsu, M. Iwasaki
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引用次数: 10

Abstract

This paper presents a practical genetic algorithm (GA)-based auto-tuning of vibration suppression controller for positioning devices with strain wave gearings. In the system design for the proposed GA-based tuning, guidelines of the fitness evaluation are set as the response bandwidth of the control system and the gain characteristics of load position for angular transmission error (ATEs) of the strain wave gearing. The proposed function autonomously tunes parameters of a positioning controller by GA, where mechanical vibrations due to the ATEs can be suppressed using resonant and all-pass filters. Effectiveness of the proposed approach has been verified using a prototype.
基于ga的应变波齿轮定位装置抑振控制器自整定
提出了一种实用的基于遗传算法的应变波齿轮定位装置抑振控制器自整定方法。在基于遗传算法的调谐系统设计中,将控制系统的响应带宽和负载位置的增益特性设置为应变波传动角传递误差(ATEs)的适应度评估准则。所提出的功能通过遗传算法自动调整定位控制器的参数,其中由ATEs引起的机械振动可以使用谐振和全通滤波器来抑制。通过原型验证了所提方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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