DOI QR코드

DOI QR Code

입력성형필터 최적 설계를 위한 인공 명역망과 유전 알고리즘 비교에 관한 연구

A Study on Comparison of Input-Shaping Filter for Optimum Design between Artificial Immune Algorithm and Genetic Algorithm

  • 투고 : 2009.11.23
  • 심사 : 2010.06.22
  • 발행 : 2010.08.01

초록

Recently to increase the productivity and improve the quality in the industrial process, suppressing the residual vibration in motion control systems becomes the essential problem to solve. One of the methods to suppress the residual vibration is the input shaping technique. It is based on parameters of the system model; however, the parameters are usually difficult to obtain. This paper shows the effects of the residual vibration caused by the variation of the general velocity profile for the system with two vibration modes, and also shows the effects of the input shaping filter based on the parameters of system model. Finally, the simulation results show that the proposed input shaping filter using an artificial immune algorithm is more effective for suppressing residual vibrations than genetic algorithm.

키워드

참고문헌

  1. O. J. M. Smith, "Posicast control of damped oscillatory systems," Proceedings of the IRE, vol. 45, pp. 1249-255, Sep. 1957. https://doi.org/10.1109/JRPROC.1957.278530
  2. Neil C. Singer and Warren P. Seering, "Using a causal shaping techniques to reduce robot vibration," Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Philadelphia, PA, Apr. 25-29, 1988.
  3. N.C. Singer and W.P. Seering, "Preshaping command inputs to reduce system vibration," ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 112, pp. 76-82, Mar. 1990. https://doi.org/10.1115/1.2894142
  4. Singhose William and W.P. Seering, Command Generation for Dynamic System, Woodruff School of Mechanical Engineering, Georgia Institute of Technology Department of Mechnanical Engineering, Massachusetts Institute of Techology, Book, Aug. 2007.
  5. D.P. Magee, W.J. Book, "Optimal filtering to minimize elastic behavior in serial link manipulators," Proc. of American Control Conference, PA, USA, 1998, pp. 2652-2656.
  6. S. Haykin, Adaptive Filter Theory, NJ, USA, Prentice Hall, 1996.
  7. S. Rhim and W.J. Book, "Vibration suppression of a flexible manipulator using adaptive time-delay command shaping filter," IEEE/ASME Trans. on Mechatronics, Vol. 9 pp. 619-626, 2004. https://doi.org/10.1109/TMECH.2004.839046
  8. N.C. Singer, Residual Vibration Reduction in Computer Controlled Machines, MIT Artificial Intelligence Laboratory Technical Report Number AITR-1030, MIT Artificial Intelligence Lab, 1989.
  9. Kazuyuki Mori, Makoto Tsukiyama and Toyoo Fukuda, "Immune algorithm with searching diversity and its application to resource allocation problem," T.IEE Japan, vol. 113-C, no. 10, pp. 872-878, 1993
  10. D. E. Goldberg. Genetic Algorithms in Search, Optimization, and Machine learning. Addison-Wesley, Reading, MA, 1989.
  11. K. Preis, C. Magele and O. Biro, "FEM and evolution strategy in the optimal design of electromagnetic devices," IEEE Trans. Magnetics, Vol. 26, pp. 2181-2183 Sep. 1990. https://doi.org/10.1109/20.104661
  12. N. K. Jerne, "The immune system," Scientific American, vol. 229, no. 1, pp. 52-60, 1973. https://doi.org/10.1038/scientificamerican0773-52
  13. N. K. Jerne, "Towards the network theory of the immune system," Ann. Immunol. (Inst. Pasteur), 125C, pp. 373-389, 1974
  14. N. K. Jerne, "Idiotypic networks and other preconceived ideas," Immunological Rev., 79, pp. 5-24, 1984. https://doi.org/10.1111/j.1600-065X.1984.tb00484.x
  15. Leandro N. de Castro and Fernando J. Von Zuben, "Learning and optimization using the clonal selection principle," IEEE Transactions on Evolutionary Computation, Special Issue on Artificial Immune Systems, vol. 6, no. 3, pp. 239-251, 2002
  16. J. E. Hunt and D. E. Cooke, "Learning using an artificial immune system," Journal of Network and Computer Applications, vol. 19, pp. 189-212, 1996. https://doi.org/10.1006/jnca.1996.0014