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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part C. Journal of mechanical engineering science >A genetic algorithm-based computed torque control for slider-crank mechanism in the ship's propeller
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A genetic algorithm-based computed torque control for slider-crank mechanism in the ship's propeller

机译：基于遗传算法的船舶螺旋桨滑块曲柄机构转矩计算

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摘要

A lot of endeavors regarding the development of slider-crank mechanism in the ship's propeller have been made and continue to be investigated. This paper presents the position control of a slider-crank mechanism, which is driven by the piston cylinder actuator to adjust the blade pitch angle. An effective motion control strategy known as the computed torque control can ensure global asymptotic stability. However, it is essential for this control scheme to have a precise and accurate system model. Moreover, large amounts of changes in the output and even instability of process are caused by a small amount of measurement or process noise, when the derivative gain is sufficiently large. Accordingly, in order to compensate any parameter deviation and disturbances as well as minimizing errors, we have presented a genetic algorithm-based computed torque control system which adjusts the proportional-derivative gains. Computer simulations are performed which reveals that asymptotically stability is reached and it confirms the effectiveness and high tracking capability of the proposed control scheme.
机译：关于船用螺旋桨中曲柄曲柄机构的开发，已经做出了许多努力，并将继续进行研究。本文提出了一种曲柄滑块机构的位置控制，该滑块曲柄机构由活塞缸致动器驱动，以调节叶片桨距角。一种有效的运动控制策略，即计算转矩控制，可以确保全局渐近稳定性。但是，此控制方案必须具有精确的系统模型。而且，当微分增益足够大时，由于少量的测量或过程噪声而导致输出的大量变化甚至过程的不稳定性。因此，为了补偿任何参数偏差和干扰以及最小化误差，我们提出了一种基于遗传算法的计算转矩控制系统，该系统可调节比例微分增益。进行了计算机仿真，揭示了渐近稳定性，并证实了所提出控制方案的有效性和高跟踪能力。

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