A simultaneous optimization algorithm for determining both mechanical-system and controller parameters for positioning control mechanisms

摘要

This paper presents an optimization algorithm which determines mechanical-system and controller parameters simultaneously, especially for positioning control systems. In order to improve the cost-performance ratios of products such as robots, and elevators, it is important to design them while balancing the performance of the mechanical mechanism with that of the control mechanism. The algorithm proposed in this paper does just that: it determines the mechanical parameters and how to determine the controller parameters. In the controller-design process, nonlinear programming methods are used so that large numbers of specifications and conditions can be dealt with. In the mechanism-design process, a genetic algorithm (GA) is used that allows optimal values to be obtained for complicated systems. Parameters for both mechanism and controller can be obtained by integrating these processes. The numerical result shows that the design parameters obtained satisfy the various specifications.