Robot manipulators perform a point-point task under kinematic and dynamic constraints.Due to multi-degreeof-freedom coupling characteristics,it is difficult to find a better desired trajectory.In this paper,a multi-ob...Robot manipulators perform a point-point task under kinematic and dynamic constraints.Due to multi-degreeof-freedom coupling characteristics,it is difficult to find a better desired trajectory.In this paper,a multi-objective trajectory planning approach based on an improved elitist non-dominated sorting genetic algorithm(INSGA-II)is proposed.Trajectory function is planned with a new composite polynomial that by combining of quintic polynomials with cubic Bezier curves.Then,an INSGA-II,by introducing three genetic operators:ranking group selection(RGS),direction-based crossover(DBX)and adaptive precision-controllable mutation(APCM),is developed to optimize travelling time and torque fluctuation.Inverted generational distance,hypervolume and optimizer overhead are selected to evaluate the convergence,diversity and computational effort of algorithms.The optimal solution is determined via fuzzy comprehensive evaluation to obtain the optimal trajectory.Taking a serial-parallel hybrid manipulator as instance,the velocity and acceleration profiles obtained using this composite polynomial are compared with those obtained using a quintic B-spline method.The effectiveness and practicability of the proposed method are verified by simulation results.This research proposes a trajectory optimization method which can offer a better solution with efficiency and stability for a point-to-point task of robot manipulators.展开更多
For an optimal design of a surface-mounted permanent magnet synchronous motor(SPMSM),many objective functions should be considered.The classical optimization methods,which have been habitually designed based on magnet...For an optimal design of a surface-mounted permanent magnet synchronous motor(SPMSM),many objective functions should be considered.The classical optimization methods,which have been habitually designed based on magnetic circuit law or finite element analysis(FEA),have inaccuracy or calculation time problems when solving the multi-objective problems.To address these problems,the multi-independent-population genetic algorithm(MGA)combined with subdomain(SD)model are proposed to improve the performance of SPMSM such as magnetic field distribution,cost and efficiency.In order to analyze the flux density harmonics accurately,the accurate SD model is first established.Then,the MGA with time-saving SD model are employed to search for solutions which belong to the Pareto optimal set.Finally,for the purpose of validation,the electromagnetic performance of the new design motor are investigated by FEA,comparing with the initial design and conventional GA optimal design to demonstrate the advantage of MGA optimization method.展开更多
A multi-objective improved genetic algorithm is constructed to solve the train operation simulation model of urban rail train and find the optimal operation curve.In the train control system,the conversion point of op...A multi-objective improved genetic algorithm is constructed to solve the train operation simulation model of urban rail train and find the optimal operation curve.In the train control system,the conversion point of operating mode is the basic of gene encoding and the chromosome composed of multiple genes represents a control scheme,and the initial population can be formed by the way.The fitness function can be designed by the design requirements of the train control stop error,time error and energy consumption.the effectiveness of new individual can be ensured by checking the validity of the original individual when its in the process of selection,crossover and mutation,and the optimal algorithm will be joined all the operators to make the new group not eliminate on the best individual of the last generation.The simulation result shows that the proposed genetic algorithm comparing with the optimized multi-particle simulation model can reduce more than 10%energy consumption,it can provide a large amount of sub-optimal solution and has obvious optimization effect.展开更多
Based on improved multi-objective particle swarm optimization（MOPSO） algorithm with principal component analysis（PCA） methodology, an efficient high-dimension multiobjective optimization method is proposed, which,...Based on improved multi-objective particle swarm optimization（MOPSO） algorithm with principal component analysis（PCA） methodology, an efficient high-dimension multiobjective optimization method is proposed, which, as the purpose of this paper, aims to improve the convergence of Pareto front in multi-objective optimization design. The mathematical efficiency,the physical reasonableness and the reliability in dealing with redundant objectives of PCA are verified by typical DTLZ5 test function and multi-objective correlation analysis of supercritical airfoil,and the proposed method is integrated into aircraft multi-disciplinary design（AMDEsign） platform, which contains aerodynamics, stealth and structure weight analysis and optimization module.Then the proposed method is used for the multi-point integrated aerodynamic optimization of a wide-body passenger aircraft, in which the redundant objectives identified by PCA are transformed to optimization constraints, and several design methods are compared. The design results illustrate that the strategy used in this paper is sufficient and multi-point design requirements of the passenger aircraft are reached. The visualization level of non-dominant Pareto set is improved by effectively reducing the dimension without losing the primary feature of the problem.展开更多
In order to improve some shortcomings of the standard particle swarm optimization algorithm, such as premature convergence and slow local search speed, a double population particle swarm optimization algorithm based o...In order to improve some shortcomings of the standard particle swarm optimization algorithm, such as premature convergence and slow local search speed, a double population particle swarm optimization algorithm based on Lorenz equation and dynamic self-adaptive strategy is proposed. Chaotic sequences produced by Lorenz equation are used to tune the acceleration coefficients for the balance between exploration and exploitation, the dynamic self-adaptive inertia weight factor is used to accelerate the converging speed, and the double population purposes to enhance convergence accuracy. The experiment was carried out with four multi-objective test functions compared with two classical multi-objective algorithms, non-dominated sorting genetic algorithm and multi-objective particle swarm optimization algorithm. The results show that the proposed algorithm has excellent performance with faster convergence rate and strong ability to jump out of local optimum, could use to solve many optimization problems.展开更多
Taking the consumption rate of renewable energy and the operation cost of hybrid AC/DC microgrid as the optimization objectives,the adjustment of load demand curves is carried out considering the demand side response(...Taking the consumption rate of renewable energy and the operation cost of hybrid AC/DC microgrid as the optimization objectives,the adjustment of load demand curves is carried out considering the demand side response(DSR)on the load side.The complementary utilization of renewable energy between AC area and DC area is achieved to meet the load demand on the source side.In the network side,the hybrid AC/DC microgrids purchase electricity from the power grid at the time-of-use(TOU)price and sell the surplus power of renewable energy to the power grid for profits.The improved memetic algorithm(IMA)is introduced and applied to solve the established mathematical model.The promotion effect of the proposed source-network-load coordination strategies on the optimal operation of hybrid AC/DC microgrid is verified.展开更多
Distributed generation(DG)allocation in the distribution network is generally a multi-objective optimization problem.The maximum benefits of DG injection in the distribution system highly depend on the selection of an...Distributed generation(DG)allocation in the distribution network is generally a multi-objective optimization problem.The maximum benefits of DG injection in the distribution system highly depend on the selection of an appropriate number of DGs and their capacity along with the best location.In this paper,the improved decomposition based evolutionary algorithm(I-DBEA)is used for the selection of optimal number,capacity and site of DG in order to minimize real power losses and voltage deviation,and to maximize the voltage stability index.The proposed I-DBEA technique has the ability to incorporate non-linear,nonconvex and mixed-integer variable problems and it is independent of local extrema trappings.In order to validate the effectiveness of the proposed technique,IEEE 33-bus,69-bus,and 119-bus standard radial distribution networks are considered.Furthermore,the choice of optimal number of DGs in the distribution system is also investigated.The simulation results of the proposed method are compared with the existing methods.The comparison shows that the proposed method has the ability to get the multi-objective optimization of different conflicting objective functions with global optimal values along with the smallest size of DG.展开更多
基金Supported by the Zhejiang Provincial Natural Science Foundation for Distinguished Young Scientists(Grant No.LR18E050003)the National Natural Science Foundation of China(Grant Nos.51975523,51905481)+2 种基金Natural Science Foundation of Zhejiang Province(Grant No.LY22E050012)the Students in Zhejiang Province Science and Technology Innovation Plan(Xinmiao Talents Program)(Grant No.2020R403054)the China Postdoctoral Science Foundation(Grant No.2020M671784)。
文摘Robot manipulators perform a point-point task under kinematic and dynamic constraints.Due to multi-degreeof-freedom coupling characteristics,it is difficult to find a better desired trajectory.In this paper,a multi-objective trajectory planning approach based on an improved elitist non-dominated sorting genetic algorithm(INSGA-II)is proposed.Trajectory function is planned with a new composite polynomial that by combining of quintic polynomials with cubic Bezier curves.Then,an INSGA-II,by introducing three genetic operators:ranking group selection(RGS),direction-based crossover(DBX)and adaptive precision-controllable mutation(APCM),is developed to optimize travelling time and torque fluctuation.Inverted generational distance,hypervolume and optimizer overhead are selected to evaluate the convergence,diversity and computational effort of algorithms.The optimal solution is determined via fuzzy comprehensive evaluation to obtain the optimal trajectory.Taking a serial-parallel hybrid manipulator as instance,the velocity and acceleration profiles obtained using this composite polynomial are compared with those obtained using a quintic B-spline method.The effectiveness and practicability of the proposed method are verified by simulation results.This research proposes a trajectory optimization method which can offer a better solution with efficiency and stability for a point-to-point task of robot manipulators.
基金This work was supported in part by the National Natural Science Foundation of China under Grant51507016。
文摘For an optimal design of a surface-mounted permanent magnet synchronous motor(SPMSM),many objective functions should be considered.The classical optimization methods,which have been habitually designed based on magnetic circuit law or finite element analysis(FEA),have inaccuracy or calculation time problems when solving the multi-objective problems.To address these problems,the multi-independent-population genetic algorithm(MGA)combined with subdomain(SD)model are proposed to improve the performance of SPMSM such as magnetic field distribution,cost and efficiency.In order to analyze the flux density harmonics accurately,the accurate SD model is first established.Then,the MGA with time-saving SD model are employed to search for solutions which belong to the Pareto optimal set.Finally,for the purpose of validation,the electromagnetic performance of the new design motor are investigated by FEA,comparing with the initial design and conventional GA optimal design to demonstrate the advantage of MGA optimization method.
基金This work was supported by the Youth Backbone Teachers Training Program of Henan Colleges and Universities under Grant No.2016ggjs-287the Project of Science and Technology of Henan Province under Grant Nos.172102210124 and 202102210269.
文摘A multi-objective improved genetic algorithm is constructed to solve the train operation simulation model of urban rail train and find the optimal operation curve.In the train control system,the conversion point of operating mode is the basic of gene encoding and the chromosome composed of multiple genes represents a control scheme,and the initial population can be formed by the way.The fitness function can be designed by the design requirements of the train control stop error,time error and energy consumption.the effectiveness of new individual can be ensured by checking the validity of the original individual when its in the process of selection,crossover and mutation,and the optimal algorithm will be joined all the operators to make the new group not eliminate on the best individual of the last generation.The simulation result shows that the proposed genetic algorithm comparing with the optimized multi-particle simulation model can reduce more than 10%energy consumption,it can provide a large amount of sub-optimal solution and has obvious optimization effect.
基金supported by the National Natural Science Foundation of China (No.11402288)
文摘Based on improved multi-objective particle swarm optimization（MOPSO） algorithm with principal component analysis（PCA） methodology, an efficient high-dimension multiobjective optimization method is proposed, which, as the purpose of this paper, aims to improve the convergence of Pareto front in multi-objective optimization design. The mathematical efficiency,the physical reasonableness and the reliability in dealing with redundant objectives of PCA are verified by typical DTLZ5 test function and multi-objective correlation analysis of supercritical airfoil,and the proposed method is integrated into aircraft multi-disciplinary design（AMDEsign） platform, which contains aerodynamics, stealth and structure weight analysis and optimization module.Then the proposed method is used for the multi-point integrated aerodynamic optimization of a wide-body passenger aircraft, in which the redundant objectives identified by PCA are transformed to optimization constraints, and several design methods are compared. The design results illustrate that the strategy used in this paper is sufficient and multi-point design requirements of the passenger aircraft are reached. The visualization level of non-dominant Pareto set is improved by effectively reducing the dimension without losing the primary feature of the problem.
文摘In order to improve some shortcomings of the standard particle swarm optimization algorithm, such as premature convergence and slow local search speed, a double population particle swarm optimization algorithm based on Lorenz equation and dynamic self-adaptive strategy is proposed. Chaotic sequences produced by Lorenz equation are used to tune the acceleration coefficients for the balance between exploration and exploitation, the dynamic self-adaptive inertia weight factor is used to accelerate the converging speed, and the double population purposes to enhance convergence accuracy. The experiment was carried out with four multi-objective test functions compared with two classical multi-objective algorithms, non-dominated sorting genetic algorithm and multi-objective particle swarm optimization algorithm. The results show that the proposed algorithm has excellent performance with faster convergence rate and strong ability to jump out of local optimum, could use to solve many optimization problems.
基金supported by the National Natural Science Foundation of China(No.51577068)the National High Technology Research and Development Program of China(863 Program)(No.2015AA050104).
文摘Taking the consumption rate of renewable energy and the operation cost of hybrid AC/DC microgrid as the optimization objectives,the adjustment of load demand curves is carried out considering the demand side response(DSR)on the load side.The complementary utilization of renewable energy between AC area and DC area is achieved to meet the load demand on the source side.In the network side,the hybrid AC/DC microgrids purchase electricity from the power grid at the time-of-use(TOU)price and sell the surplus power of renewable energy to the power grid for profits.The improved memetic algorithm(IMA)is introduced and applied to solve the established mathematical model.The promotion effect of the proposed source-network-load coordination strategies on the optimal operation of hybrid AC/DC microgrid is verified.
文摘Distributed generation(DG)allocation in the distribution network is generally a multi-objective optimization problem.The maximum benefits of DG injection in the distribution system highly depend on the selection of an appropriate number of DGs and their capacity along with the best location.In this paper,the improved decomposition based evolutionary algorithm(I-DBEA)is used for the selection of optimal number,capacity and site of DG in order to minimize real power losses and voltage deviation,and to maximize the voltage stability index.The proposed I-DBEA technique has the ability to incorporate non-linear,nonconvex and mixed-integer variable problems and it is independent of local extrema trappings.In order to validate the effectiveness of the proposed technique,IEEE 33-bus,69-bus,and 119-bus standard radial distribution networks are considered.Furthermore,the choice of optimal number of DGs in the distribution system is also investigated.The simulation results of the proposed method are compared with the existing methods.The comparison shows that the proposed method has the ability to get the multi-objective optimization of different conflicting objective functions with global optimal values along with the smallest size of DG.
