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Bridge crane modeling method adopting hairpin mutation operation RNA genetic algorithm

A bridge crane and genetic algorithm technology, applied in the field of intelligent optimization modeling, can solve problems such as weak local optimization ability

Active Publication Date: 2016-01-20
ZHEJIANG UNIV
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Problems solved by technology

The genetic algorithm has strong global optimization ability, but weak local optimization ability, and is prone to premature convergence

Method used

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  • Bridge crane modeling method adopting hairpin mutation operation RNA genetic algorithm
  • Bridge crane modeling method adopting hairpin mutation operation RNA genetic algorithm
  • Bridge crane modeling method adopting hairpin mutation operation RNA genetic algorithm

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Embodiment

[0109] Below, the present invention is further explained with the "three-dimensional bridge crane experimental platform" of a certain robotics and automation institute as an example.

[0110] In this embodiment, the bridge crane modeling method of hairpin mutation operation RNA genetic algorithm comprises the following steps:

[0111] Step 1: Through the "three-dimensional bridge crane experimental platform" (when only x, θ x As a state quantity, the platform can be simplified as a two-dimensional bridge crane system in the x direction. See figure 2 (a) Crane system model diagram) Obtain the horizontal direction control input f of the two-dimensional bridge crane system x , the position x in the horizontal direction and the swing angle θ x Output sampled data. The parameters of the bridge crane are set as trolley mass M=6.5kg, load mass m=0.75kg, rope length fixed l=1m, gravitational acceleration g=9.8m / s 2 . In the process of collecting experimental data, an initial fo...

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Abstract

The invention discloses a bridge crane modeling method adopting a hairpin mutation operation RNA genetic algorithm and belongs to the field of intelligent modeling. A bridge crane is a highly nonlinear complicated system, and building a high-precision bridge crane system model is a fatal basis for the purpose of effectively control. For high bridge crane modeling precision, a bridge crane nonlinear regression model based on the position and the angle of an RBF nerve network. Under inspiration of a hairpin structure, the hairpin mutation operation RNA genetic algorithm is abstracted and applied to optimize the radial basis function center of the bridge crane RBF nerve network so as to obtain a nerve network model of the bridge crane. The bridge crane modeling method has the characteristic of high modeling precision and is also suitable for modeling other complicated nonlinear systems.

Description

technical field [0001] The invention relates to the technical field of intelligent optimization modeling, in particular to a bridge crane modeling method of hairpin mutation operation RNA genetic algorithm. Background technique [0002] Cranes are large-scale engineering handling equipment that play a pivotal role in national economic construction. Among all types of cranes, bridge cranes are the most representative. The main task of the bridge crane is to realize the fast, accurate and non-residual delivery of goods. Due to the under-actuated characteristics of the crane system, the movement and interference of the trolley will cause the load to swing and reduce the working efficiency of the crane system. At the same time, it may cause the load to collide with the operator or other objects and cause losses. Therefore, the overhead crane must be effectively controlled. To achieve this purpose, the establishment of a high-precision overhead crane system model is a crucial ...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 朱笑花王宁
Owner ZHEJIANG UNIV
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