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基于蚁群遗传算法的舵机系统辨识（英文）.docx

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基于蚁群遗传算法的舵机系统辨识（英文） Title:IdentificationofServoSystemBasedonAntColonyGeneticAlgorithm Introduction Asanimportantpartofthecontrolsystem,servosystemplaysasignificantroleinthefieldofautomationandrobotics.Accurateidentificationofservosystemparametersisessentialforthedesign,analysis,andcontrolofthesystem.Inrecentyears,variousidentificationmethodshavebeenproposedtoimprovetheaccuracyandefficiencyofparameteridentification.Amongthem,antcolonygeneticalgorithmhasattractedalotofattentionduetoitspowerfuloptimizationabilityandglobalsearchcapability.Inthispaper,weproposeamethodofservosystemidentificationbasedonantcolonygeneticalgorithm. AntColonyGeneticAlgorithm Antcolonygeneticalgorithmisahybridoptimizationalgorithmthatcombinesantcolonyoptimizationandgeneticalgorithm.Antcolonyoptimizationisinspiredbythebehaviorofantssearchingforfood.Inthealgorithm,antsleavepheromonesonthepathstheyhavetraveled,andthepheromonesattractotherantstofollowthesamepath.Overtime,thepathswithhigherpheromoneconcentrationareselectedmorefrequently,andtheoptimalpathisgraduallyfound.Geneticalgorithmisaheuristicoptimizationmethodbasedontheprincipleofnaturalselectionandgeneticvariation.Thealgorithmmaintainsapopulationofcandidatesolutions,anditerativelyimprovesthesolutionsbyselection,reproduction,andmutationoperations. Methodology Theidentificationofservosystemparametersisessentiallyamodelparameterestimationproblem.Inthisstudy,weconsiderasecond-orderlinearmodeloftheservosystem: y(t)=K/(s^2+2ζωns+ωn^2)u(t) wherey(t)istheoutput,u(t)istheinput,Kisthegain,ζisthedampingratio,ωnisthenaturalfrequency,andsistheLaplacevariable. Theantcolonygeneticalgorithmisusedtooptimizetheparametervaluesofthemodel.Theoptimizationproblemisformulatedasfollows: minimize||y(t)-y_model(t)|| wherey_model(t)istheoutputofthemodelwithoptimizedparameters. Thealgorithmincludesthefollowingsteps: 1.Initializethepopulationofparametervalues. 2.Calculatethefitnessvalueofeachindividualbycomparingtheoutputofthemodelwiththemeasureddata. 3.Selectthebestindiv