Vol.10, No 1, 2011 pp. 19 - 27
UDC
004.424.521.021 007.52 004.423D
GENETIC ALGORITHMS APPLIED IN PARAMETERS DETERMINATION OF THE 3D CRANE MODEL
Zoran Jovanović1, Dragan Antić1, Zoran Stajić2,
Miloš Milošević3, Saša Nikolić1, Staniša Perić1
1University of Niš, Faculty of Electronic Engineering, Department of Control Systems, Aleksandra Medvedeva 14, 18000 Niš, Serbia
E-Mail: zoran.jovanovic@elfak.ni.ac.rs, dragan.antic@elfak.ni.ac.rs, sasa.s.nikolic@elfak.ni.ac.rs, stanisa.peric@elfak.ni.ac.rs
2University of Niš, Faculty of Electronic Engineering, Department of Electroenergetics, Aleksandra Medvedeva 14, 18000 Niš, Serbia
E-Mail: zoran.stajic@elfak.ni.ac.rs
3IRC ALFATEC, Niš, Bulevar Nikole Tesle 63/5, 18000 Niš, Serbia
E-mail: milos.milosevic@alfatec.rs
Abstract.
This paper considers the implementation of the genetic algorithms in determine parameters of model 3D Crane system, defined by highly nonlinear mathematical model. The validation of the model and parameters are performed by digital simulation and comparison with the experimental results. Proposed method for determining parameters of the model has many advantages, such as satisfactory control performance under a wide range of operating conditions, reducing fluctuations during the positioning of payload cart.
Key Words:
genetic algorithms, 3D crane system.
ODREĐIVANJE PARAMETARA MODELA 3D KRANA KORIŠĆENJEM GENETIČKIH ALGORITAMA
U ovom radu razmatra se primena genetičkog algoritma pri određivanju parametara modela 3D krana, definisanog kao visoko nelinearnog sistema. Validnost modela i parametara potvrđena je simulacijom i upoređena je sa eksperimentalnim rezultatima. Predloženi način određivanja parametara modela ima mnoge prednosti, kao što su zadovoljavajuće performanse u širokim uslovima rada, smanjenje oscilacija tereta prilikom pozicioniranja kolica.
Ključne reči:
genetički algoritmi, 3D kran sistem
