基于DNA遗传算法的气动驱动柔性梁振动控制

摘要

A rod cylinder based pneumatic drive control system was proposed using pulse code modulation (PCM) method. Considering the complexity of the system, the adaptive parameters tuning control using DNA genetic algorithm (DNA-GA) was proposed. The penumatic system and control circuit were introduced. The controllability and the stability of the control algorithm based on fitness function were analyzed by using the system model. The principle of parameters optimization based on DNA-GA was represented. The numerical simulation was carried out. An experimental setup was built up. Experiments were conducted for positioning and vibration suppression simultaneously. The theoretial analysis, numerical simulation and experimental results demonstrate that the adopted DNA-GA self-tuning controller can improve the dynamic performance of control system. The low-frequency large amplitude vibration of the flexible beam is suppressed effectively.%采用气动脉冲码调制(Pulse Code Modulation,PCM)方式,给出一种基于有杆气缸驱动进行压电柔性梁振动控制系统.考虑到系统的复杂性,采用DNA-GA进行参数自适应整定控制.首先,介绍气动系统和控制回路；利用系统模型进行了能控性和基于性能指标函数控制算法的稳定性分析.其次,阐述了DNA-GA进行控制参数优化的原理和方法,进行了数学仿真研究.最后,建立了试验装置,进行同时气动定位和振动控制试验研究.理论分析、仿真和试验研究结果表明,采用DNA-GA参数自适应整定控制算法可改善控制系统动态性能,有效抑制柔性梁的大幅值低频模态振动.