以遺傳演算法探討多關節系統之設計

Study in Design of Multiple-Joint Systems Using Genetic Algorithm

楊大中(Ta-Chung Yang) ； 林崇賢(Chorng-Shyan Lin)

《先進工程學刊》 3卷4期 (2008/10) Pp. 261-267

https://doi.org/10.29948/JAE.200810.0001

摘要

針對撓性機械伺服系統之多自由度參數之鑑別，延續原有推導之狀態空間方程、測試數據以及敏感度配合最佳化之鑑別，本文利用遺傳演算法，依據目標函數與設計參數設定範圍，進行設計參數之鑑別。並針對演算程序及結果，與敏感度最佳法之鑑別比較。文中例子設計參數為6個阻尼加5個勁度參數，以三種不同變動範圍進行鑑別。對系統反應參考點具有高度敏感度之關鍵性參數，兩種方法鑑別結果相近，且GA法所得結果範圍與標準差均較小。具有高度敏感度之參數主宰目標函數值。若不恰當限制各設計參數之設計範圍，將導致敏感度較大之設計參數，其設計與製造裕度要求更加嚴謹。

關鍵字

撓性機械 ； 關節 ； 參數鑑別 ； 遺傳演算法 ； 頻率響應

並列摘要

The objective of this research is to extend the joint parameters identification method developed before to the design of flexible servomechanisms. With the same test data, the parameters identification by means of a genetic algorithm is performed in this paper. The mechanism with five stiffness and six damping coefficients is used for demonstration. Three design variable ranges are assumed in this paper. The results are compared with those of the sensitivity method. The comparison shows that the key parameters with larger sensitivity have less discrepancy between the identified results, less variation, and smaller standard deviations. If tolerances are reduced inadequately for some design parameters, tighter tolerances will be required for the key parameters in order to meet the response requirements.

並列關鍵字

flexible mechanism ； joint ； parameter identification ； genetic algorithm ； frequency response