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Optimization of the vibroisolation systems of crane cabin using genetic

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ISSN 1392 - 1207. MECHANIKA. 2007. Nr.5(67)

Optimization of the vibroisolation systems of crane cabin using genetic

algorithm
K. Kaczmarek, A. Nowak*
*Institute of Mathematic, Silesian Technical University, Kaszubska 23, 44-100 Gliwice, Poland, E-mail:
andrzej.nowak@polsl.pl

1. Introduction 2. Mathematical model of active vibroisolation system

with PID element
In the paper the optimization problem of dynami- We consider the general mathematical model of
cal characteristics of machine vibroisolation systems is mechatronical vibroisolation system in the form of two
analysed. We consider active and passive models of the differential matrix equations
vibroisolation systems, that in term of the bond graphs
representation are presented in [1-3]. For the determination Mx + Bx + Cx + D( x) = F (t ) − Ku (t ) (1)
of optimal characteristics of the vibroisolation subsystems
the numerical algorithm on the basis of genetic analysis u = Gu + Lx + Hx (2)
(GA) method is elaborated, in particularly in the case of
where K > 0 is diagonal matrix of control coefficients. L, H
active vibroisolation models with PID control element [4].
are the positive determined matrixes of which elements are
The optimization problem consists of the determinations of
the parameters of control elements.
minimum of the energetical functional in terms of integral
The Eq. (2) is the mathematical model of the con-
function regard to the parameters of vibroisolation subsys-
trol element PID. In analysis the following is assumed
tem on the basis of mathematical model of the system as
differential equations of the motion. The criteria function is L = diag[ Li ] , H = diag[ H i ] , G = diag[Gi ] .
the expression of ergonomical level of vibroactivity of
vibroisolation system [1-3, 5].
The main conditions for dynamical models con- Multiplying the Eq. (1) by inverse matrix B −1 we
struction of the vibroisolation systems and its optimization obtain the following system
procedure are following: x + bx + cx + d ( x) = f (t ) − ku (t ) (3)
- consider the models of driving subsystems with only
DC motor and with feedback element, patricularly us- u = Gu + Lx + Hx (4)
ing PID control element;
- an impulse or harmonical force is assumed, without Assuming H = 0 and u = 0 we obtain the model
random processes; with statical control system
- consider only the lumped models of the vibroisolation
systems on the basis of Rigid Element Method (REM). Gu = Lx → u = gx, g = G −1 L (5)
At the operation of heavy duty machines the vi-
bration processes are characterised by great constant am-
plitudes of displacements under unbalanced forces. Opera- The Eqs. (3), (4) can be presented in the form
tor of such machines is effected by vibrations. General only one 3nd order equation. By differentation the Eq. (4)
ergonomical criteria function for the optimization problem regard the time and substituting it into the Eq. (3) we can
[1] is equal to the number of the kinetical energy on the write
body of operators.
The effective way to eliminate negative phe- x + b1 x + c1 x + ex = f (t ) − (kG )u (t ) (6)
nomenons during the machines operation is the vibroisola-
tion method. The vibroisolation method is the application The characteristic equation of the system is
of special devices called the vibroisolators.
The well known vibroisolators are shock absorb-
det Er 3 + b1 r 2 + c 1 r + e = 0 (7)
ers hydraulic and pneumatic dampers and dynamical
eliminators [1, 2, 4, 6, 7]. In active vibroisolators addi-
tional elements such as subsystems, for example the PID According to the Routh-Hurvitz theorem active
element are used [4]. system is stable, when each roots of the characteristic
The optimization calculations of the special vi- Eq. (7) has no positive real part [4]. Next we consider the
broisolator for the crane cabin to reduce its acceleration system with harmonical excitation forces
level with active control system type PID were performed. f (t ) = f 0 + f1 sinωt and control signals of the similar form
The results of the numerical calculations in terms of dis- u (t ) = u0 + u1cosωt , where f1 << f 0 , u1 << u0 . We assume
placements, accelerations and vibroisolation forces are
presented. the following dependences for elimination of the forces f 0

ku0 = f 0 → u0 = k −1 f 0 (8)
 58

In such case the amplitudes of control signals ⎡ 0 E 0⎤

should compensate the amplitudes f1 of dynamical har- T = ⎢ − c − b − k ⎥⎥ ,
⎢ D = [0 − d 0]
monical signals ⎢⎣ L H G ⎥⎦

(kG )u1 = ω f1 → u1 = ω (kG ) −1 f1 (9) z = [x, v, u ] , F = [0, f , 0]

T T
(12)

On the basis of Eqs. (8), (9) the dependences for 3. Optimization algorithm for energetic functional
determination of the control matrices and their parameters using GA method
determination can be formulated
The block diagram of the optimization algorithm
La = Ha ω → L = ω H (10) with two parts is shown in Fig. 1. The range of investiga-
tions is limited to the determination of the amplitude char-
In order to prove of numerical calculation accord- acteristics displacements and accelerations of the system.
ing Eq. (6) the active system is presented in form of three The main part of the programme consists of the
1st order equation procedure of energetical functional criterium optimization
of energetical functional regarding the system parameters
z = Tz + D ( x) + F (t ) (11) by use of the genetic algorithm [1, 6]. After optimization
procedure the optimal values of the parameters of vibroiso-
where lation subsystem are obtained.

BEGIN

INITIAL DATA OF THE MODEL

MATHEMATICAL MODEL OF THE VIBROISOLATION

PHYSICAL SYSTEM

t =1

GENETIC ALGORITHM SENSITIVITY ANALYSIS OF THE

VIBROISOLATION MODEL
GA

OPTIMIZATION PROCEDURE FOR THE

VIBROISOLATION MODEL
ESTIMATION OF
THE INITIAL
t:=t+1 VALUES OF THE
t<N VIBROISOLATOR

t≥N

DESIGN OF THE VIBROISOLATION DEVICE

LABORATORY INVESTIGATIONS OF THE VIBROISOLATOR DEVICE

Fig. 1 Scheme of the optimization algorithm for the energetical functional by use of the GA method
 59

4. Evolution and selection of the population by F ( x) = B − Af ( x) = max, A > 0, B > 0 (17)

the binary genotype lattice
For determination of the minimum function f (x)
The genetic procedure on basis of the Benesz’s
binary lattice is formulated so that horizontal lines belong is used the fittness function
to different variables of the system and vertical lines to
positions of binary gens in chromosomes strings (Fig. 2). F ( x) = B + Af ( x) = max, A > 0, B > 0 (18)
Binary strings of the lattice a given in term of chromo-
somes Statistical disposition of the variables xi can be
determined by the following formulas
ch1 = ⎡⎣ g1i , g1i ,..., g mi ⎤⎦, i = 1, 2,..., n, gij = 0lub1 (13)
k i
Fi
pi = , F = ∑ F1 , H i = ∑ p j , i = 1,2,..., k (19)
The genotype of the lattice for different variables F i =1 j +1
can be noticed in form of the strings

[ ]
G j = ch1j , ch2j ,..., chnj , j = 1, 2, . .., p (14)
where H i the value of distribution for i th chromosome.
The new population on the basis of Holland
method using Goldgerg’s rang method is realized by
1 2 k n applying the (λ , μ ) evolutionary strategies [1].
P chlp ch2p chkp chnj Gp
For the given initial values of parameters p 0 we
can solve the Eqs. (3), (4) and determine the vector xt .
Gj
l ch
1j ch2j chkj chlp Putting vector xt into functional (13) we can calculate its
value J min = J ( p 0 ) , for the given values of parameters
2 ch12 ch22 chk2 chn2 G1 p = p0 .
We consider nezt the integral functional J ( p )
1 ch11 ch21 chk1 ch1n1 that is function of the vector parameters p of the system in
the following way

G2 1 T
ch
K J= = ∫ f ( t , x, x , 
x, p ) dt → min (20)
T 0
G
with the additional control matrix equation
Fig. 2 Scheme of the binary Benesz’s lattice
g ( x, x , u , u ) = 0 (21)
For each chromosome the real value in range of
the values < ai , bi > should be determined by apply the where T is observation time, u = u (t ) is the vector of
formulas control signal, x(t , p) is displacement vector of the system.
Variables of the system satisfy the diferential
Δi equations of the motion (3) or (4).
xi = I i + ai , Δi = bi − ai , xi ∈< ai , bi >
L In such way we can obtain the reduced term of
criterial functional as the function of the parameters p for
m
I i = Int (chi ) = ∑ g ji 2 m− j , L = 2 m − 1 (15) determination of the minimum in Pareto space
j =1

Jα = J ( p) → min (22)
For binary lattice two basis operations of mutation
M and crossover K are used. The mutation is realized for in the set of the commited values of the parameters
each gen with the probability pm ≤ 0.05 . The crossover of p ∈ Dα .
two lattices K 1, K 2 for locus number. In such case we de- For the optimization problem of the dynamical
tailed the horizontal line number i of the lattice on two system we assumed the additional conditions for the
substrings and next we are making the transposition of variables of the system
genetic materials. For each lattice the value of the optimi-
zation fitness function is calculated max = xi (t ) ≤ xi0 , max = 
xi ≤ ai0 (23)
t t

F = F ( K ) = F ( x)
Genetic fitness function F (x ) for the determina-
tion of minimum of the real function f (x) can be ex-
pressed by the following formula
(16)
In the presented paper for the solution of the op-
timization problem in Pareto space the following of inte-
gral of energetical functionals are formuled for passive
vibroisolation system:
the dispacement criteria function
 60

1 mT 2
5. Optimization of the parameters of active
Ja = ∑ ∫ ⎡ xi (t , p) ⎦⎤ dt = min (24)
T i =1 0 ⎣
vibroisolation system operators of the crane cabin

5.1. Active model of quasizero stiffness vibroisolator

the displacement – acceleration criteria function
We consider the model of the vibroisolation sys-
tem for the brigde crane cabin called by UWKS, which is
[ ]
2
1T m
∑ [xi (t , p )] + ω02 xi (t , p ) dt
2

T ∫0 i = 0
J ax = (25) presented in Fig. 3, a [2, 3, 5]. The bridge crane is shown
as a simple beam with lenght L . In the centre of the beam
the mass of hoisting winch is placed. The cabin is
where ω0 is the freqence of the forces acting on the system susspensed by the beam using vibroisolation UWKS
the criteria energy function shown in Fig. 3, b. There are three springs – two side com-
pensation springs with stiffness c2 and one vertical spring
2 with stiffness c1 . In the side springs the initial compensa-
1T m
Je = ∑ [xi (t , p)] dt
T ∫0 i =1
(26) tion force F0 is created. The active vibroisolation subsys-
tem has the piezoconverter and control element PID for
compensation of the influence of the vibrations on the vi-
where xi is the vibroisolation variable. broisolater UWKS, by the generating additional compensa-
For system with electrical or hydraulical driving tion force in the side springs. It belongs to the class of qua-
subsystems the complex criterial function should be formu- sizero stiffness models. The partial differential equation of
lated in terms of weight function motion of the system with beam is

J = β J ax ( p ) + (1 − β ) J p ( p ) → min (27) ∂ 3 ym ∂ 4 ym
mom ym + η + EI − [Fk ( y mk ) + Tk (vmk )]δ (x − xk ) −
∂x 2 ∂t ∂x 4
where J ax , J p are accordingly vibroisolation criterial
function of the system and of power P of driving system − [F1 ( y m1 ) + T1 (vm1 )]δ (x − x w ) = Fw (t )δ (x − x w ) (31)

1 T where Fk , Tk are spring load and damping load of the vi-

Jp = = ∫ P(t , p) = min (28)
T 0 broisolater, δ (x) is the distribution function, η is damping
coeficient of the beam, y m = y m ( x, t ) , xk , xm are coordi-
In the case of the active vibroisolation system we
assume the following integral functional as the error func- nates of the cabin and force Fw with respected to the beam.
tion for realization of the given trajectory Statical characteristic of the vibroisolator UWKS
as a function of the cabin of displacement y k is shown [3,
1 T 5]
J= ∫ ⎡ xw Cw xw + xw Bw xw + Ku ⎤⎦dt = min
2
T T
(29)
2T 0 ⎣
⎛ ⎞
where T is observation time, W ≥ 0 is positive weight ma- ⎜ l0 ⎟
Fk = F0 k + c0 k y k + 2c2 y k ⎜1 − ⎟⎟ (32)
trix for control subsystem, e = e(t , p) is the error vector ⎜ 2
y k + l0
2
⎝ ⎠
between the real trajectory xi (t ) and the programme
0 where
courses xi (t ) of the system variables i = 1,2,..., m .
In the case, when we consider the PID control c0 k = c1 − 2 F0 / l0 (33)
element as the functional criterial function the following
formula may be given
is reduced stiffness of the vibroisolater.
By diferentation of the function (32) we obtained
1 T
J= ∫ ⎡ xw Cw xw + xw Bw xw + Ku ⎤⎦dt = min
2
T T
(30) statical stiffness of the vibroisolater
2T 0 ⎣
2
⎛y ⎞
where x w (t ) is displacement vector of the vibroisolation C k = C k ( y k ) = c0 k + 2c 2 ⎜⎜ k ⎟⎟ (34)
subsystem, x w (t ) is the vector of velocities, K is the ⎝ l0 ⎠
weight of control element.
The functional (30) has sense as the measure of On the basis of formula (34) we determine critical
kinetical and potential energy of the vibroisolation subsys- value of the side force of the springs
tem and voltage u (t ) energy of the control element. * *
F0 = 0.5c1l0 , F0 = kF0 , 0 ≤ k ≤ 1 (35)

The coefficient is called the regular parameter of the vi-

broisolater.
 61

In the next analysis we assumed, that the cabin is = Fw (t )δ (x − x w ) (38)

situated in centre of the bridge crane, when xm = xk = 1 / 2 .
The Eq. (31) is satisfayed the bondary conditions where Rk = Fk ( y mk ) + Tk (vmk ) are the spring and damping
forces.
y m (0, t ) = 0, y m (1, t ) = 0, y " m (0, t ) = 0, y " m (1, t ) = 0 (36) ⎛ jπx ⎞
Multiplication of the Eq. (38) by sin⎜ ⎟ and
⎝ l ⎠
L integrating in the range 0 ≤ x ≤ l gives the following dif-
mw ferential equation
Fw
M mr q j + bm q j + c mr q k − bmj y nj − c1m y n − T jk − F jk =

= F jm (t ) , j = 1,2,3,... M mr = 0.5m m + m w (39)

mm
ym ⎛ jπ ⎞ ⎛ jπ ⎞
GEN bm1 j = b1 sin ⎜ ⎟ , cm1 j = c1 sin ⎜ 2 ⎟
us WOSSO ⎝ 2 ⎠ ⎝ ⎠
ak
CONTROL
⎡ jπ ⎤
(πj )2 + b sin ⎢
PID mk cl bl 2 ⎥
bmj =η 1 ⎢ ⎥
2l ⎢ 1 ⎥
yk ⎣ ⎦
mn ⎡ jπ ⎤
c mj = EI y
(πj )4 ⎢
+ c1 sin ⎢ 2 ⎥
⎥
yn
2l 3 ⎢ 1 ⎥
a ⎢⎣ ⎥⎦

Fk ⎡ jπ ⎤
⎢ ⎥
( )
T jk = Tk vkmj sin ⎢ 2 ⎥, F jk = Fk y kmj , ( )
⎢ 1 ⎥
l ⎣⎢ ⎦⎥
c2 c2
mk y kmj = y k − q j , vkmj = q j − y kmj

⎡ jπ ⎤
⎢ ⎥
F2k F1k F2k F jm= Fw sin ⎢ 2 ⎥ (40)
xk ⎢ 1 ⎥
⎢⎣ ⎥⎦
c1
The next analysis we would be limited to the first
harmonic j = 1 , q = q1 . There we assumed nonlinear
damping characteristic as square function of the cabin ve-
b locity

Tk = Tk (vkm ) = b1vkm − b2 v km , vkm = y k − q

2
Fig. 3 Model of active vibroisolation of the crane cabin (a) (41)
and model of the vibroisolater UWKS (b)
The active vibroisolater UWKS (Fig. 3, a) con-
Substituting to the Eq. (31) the solution in the sists of the following elements:
form of trigonomical series - the piezoelectrical element for the measurement of
cabin acceleration,
∞
⎛ kπx ⎞ - the generator for the realization of compensation force
y m ( x, t ) = ∑ qk (t )sin⎜ ⎟ (37)
k =1 ⎝ l ⎠ for sides springs of the vibroisolator,
- the electrical control subsystem with control element
we obtained the following equation PID.
The compensation force is proporcional to the ac-
2 celeration of the crane cabin and current intensity control
∞
⎛ jπx ⎞ ⎛ jπ ⎞ ⎛ jπx ⎞
∑ [ ρAq j sin⎜ l ⎟ + ηq j ⎜ l ⎟ sin⎜ l ⎟ − system
j =1 ⎝ ⎠ ⎝ ⎠ ⎝ ⎠
ksus k
⎛ jπ ⎞
2
⎛ jπxk ⎞ ⎛ jπ ⎞ ⎛ jπx ⎞
4
Fs = k s I s = = Ku s , K = s (42)
− Rm ⎜ ⎟ q j sin⎜ ⎟ + EI ⎜ ⎟ q j sin⎜ ⎟] = Rs Rs
⎝ l ⎠ ⎝ l ⎠ ⎝ l ⎠ ⎝ l ⎠
 62

where K is the amplifier of the control system. - stiffnesses of the vibroisolation UWKS:
The differential equations of the system with con- c1 = 200 kN/m, c 2 = 1000 kN/m,
trol element PID are following - masses of bridge crane, the cabin and the load
mm = 6000 kg, m w = 1500 kg, mn = 5000 kg,
M mr q j + bm q j + c mr q k − bmj y nj − c1m y n − T jk − F jk = F jm (t )
mk = 1000 kg.
mk yk + Tk (vkm ) + Fk ( y km ) = mk g − Ku s (t ) 43) In Fig.4 a, b statical characteristics of the vibroi-
solaters in function of displacements are shown.
mn yn + b1 ( y n − q ) + c1 ( y n − q ) = mn g
The statical characteristic has constant value in
u s = −αu s + βy k + γy s (44) the range of displacements -0.02m ≤ y k ≤ 0.02m for ideal
value parameter k = 1 . The displacements, the acceleration
where α , β , γ are the parameters of the control element (b) and the vertical force of the cabin for initial parameters
PID. and the frequence f 0 = 2.0 Hz and k = 1.0 stiffnesses
c1 = 200 kN/m, c 2 = 1000 kN/m are presented in Fig.5, a,
Fk , kN b, c. The maximal value of the cabin acceleration is equal
Fkr=30 kN to 0.8m/s2. The bondary cycle the system in Fig.6 is
κ = 0.8 shown.
Mk=1000 kg κ = 0.95
yk ,m c1=200 kN/m c2=10000 kN/m
κ=1 mk=1000 kg
c1=200 kN/m
κ = 0.9
c2=1000 kN/m
t,s

y, m
a k = 1.0 f = 2.0 Hz
a
Ky, kN/m
ak ,m/s2
c1=200 kN/m c2=10000 kN/m
mk=1000 kg
κ = 0.8

κ = 0.9 t,s
κ = 0.95 k = 1.0 f = 2.0 Hz
κ=1
y, m b

Fk ,N
c1=200 kN/m c2=10000 kN/m
b
mk=1000 kg
Fig. 4 Statical characteristic (a) and stiffness (b) vibroi-
solater

For the assumed parameters the systems natural

frequencies are equal to
t,s
f = 2.0 Hz
f1 = 1.82 Hz, f 2 = 2.393 Hz, f 3 = 5.238 Hz.

Initial calculations of dynamical characteristics of c

the active vibroisolation system with the goal to select vi-
broisolation parameters were performed. We assume the Fig. 5 Displacement (a), the acceleration (b) vertical force
following parameters: of cabin (c) for initial parameters and frequency
- geometrical parameters of the crane and the vibroisola- f 0 = 2 Hz and k = 1.0
ter: l = 30m, l0 = 0.32m,
- initial value of the side force of the compensation
springs: F0 = 10.0 kN,
 63

vyk, m/s 5.2. Results of optimization calculations

c1=200 kN/m The optimization calculations of the active vibroi-

mk=1000 kg
solation system were performed for different frequencies
f = 2.0, 3.0, 4.0, 5.0 Hz of the load forces by using genetic
yk ,m algorithm. As the optimal parameter we assume the follow-
ing vector

P = {c1 , c 2 , κ , α , β , γ , K }
c2=10000 kN/m
where α , β , γ , K are control parameters.
f =2.0 Hz For example, when we assumed the frequency
f = 3.0 Hz the optimal values of the vibroisolation system
Fig. 6 Phase trajectory of the vibroisolation system at fre- are equal to
quency f 0 = 2 Hz and k = 1.0
mk = 1000 kg, c1 = c1w = 487.88 kN/m
Wsk_ax
c 2 = c 2 w = 1225.39 kN/m3 , k = 0.952
c1=487.88 kN/m c2=1225.39 kN/m
α = 0.001, β = 90.17, γ = 115.76, k 0 = 10.01
f =3.0 Hz
α =1e-3 In Fig. 7, a, b, c the calculation results for the
γ =115.76
frequ-ency f = 3.0 Hz are presented. The courses of the
K0 = 10.01
β = 90.17 criterial function (25) (a), the velocity of the cabin (b) and
the displacement (c). We can observe, that all variables
have asymptotic border for time t → ∞ .
Fig. 8 illustrates the course of acceleration (a) and
control voltage (b) for optimal parameters and the fre-
t, s quency f = 3.0 Hz.
a
vk ,m/s
ak, m/s2
c1=487.88 kN/m c2=1225.39 kN/m
γ =115.76 α =1e-3 c1=487.88 kN/m c2=1225.39 kN/m

κ = 0.952

β =90.17 t, s
K0 = 10.01 t, s
γ =115.76 f =3.0 Hz
K0 = 10.01

a
b
zk , m Us, V

c1=487.88 kN/m
k =0.952 t, s f =3.0 Hz
α =1e-3 α =1e-3
γ =115.76
K0 = 10.01
K0 = 10.01 β = 90.17
c1=487.88 kN/m f =3.0 Hz c2=1225.39 KN/m γ =115.76
c2=1225.39 kN/m

t, s
b
c
Fig. 8 Acceleration (a) and the control voltage (b)
Fig. 7 Criterial function (a), the velocity of the cabin (b),
the displacement (c) for frequency f 0 = 3 Hz
 64
The optimal value of the acceleration is equal to
0.15 m/s2, what confirms the efectiveness of the vibroisola-
tion system of the cabin. The limit value of the compensa-
tion force of the vibroisolater is 300 N. Phase trajectory of
the system is presented in Fig. 9. It has stationary cylinder
as the fact of control motion of the cabin.
γ =115.76 vk m/s
f =3.0 Hz
c2=1225.39
c1=487.88 kN/m
K=10.01
zk, m
κ =0.952
β =90.17 α =1e-3
Fig. 9 Phase trajectory for optimal parameters and for the
frequency f 0 = 3 Hz
6. Conclusions
The investigation results allow to formulated the
following conclusions.
1. Genetic algorithm gives a possibilty of efec-
tive optimization of the active vibroisolation system.
2. The presented example modelling of the vi-
broisolation system of quasizero stiffness crane cabin type
may have practical application.
3. The sensitivity analysis is important in optimi-
zation procedure for the determination of initial values of
the parameters of vibroisolation system.
References
1. Kaczmarek, K. Optimization of the Vibroisolation of
the Machines Systems by Use of the Genetic Algo-
rithms. Politechnika Śląska.-Gliwice, 2006.-172p. (in
Polish).
2. Design of the Vibroisolation Systems of the Crane
Cabin for the Heavy Duty Machines. Work CPBP
02.05.-Warsaw, 1990.-230p. (in Polish)
3. Wojnarowski, J., Nowak A. Optimization of the qua-
sizero stiffness vibroisolation system by use of the sen-
sitivity analysis. ZN Polit. Lodz., filia Bielsko-B., z.9,
1992, p.75-87.
4. Kaczorek, T. Theory of the automatical Systems.
WNT.-Warsaw 1977.-353p. (in Polish).
5. Wojnarowski, J., Nowak A. Efectivity of the hy-
dropneumatical vibroisolation system for the crane
cabin: Problems Machines Development Zakopane,
1999, p.303-310.
View publication stats
6. Arabas, J. Lections in Evoluation Algorithms. WNT.
-Warsaw 2001.-303p. (in Polish).
7. Goliński, J. Vibroisolation of the Machines and
Equipments. WNT.-Warsaw, 1979.-286p. (in Polish).
K. Kaczmarek, A. Nowak
TILTINIŲ KELTUVŲ APSAUGOS NUO VIRPESIŲ
SISTEMŲ OPTIMIZAVIMAS GENETINIŲ
ALGORITMŲ METODU
Reziumė
Darbe nagrinėjamos apsaugos nuo virpesių siste-
mų optimizavimo genetinių algoritmų (GA) metodu pro-
blemos. Išanalizuotos pasyviosios bei aktyviosios apsaugos
nuo virpesių sistemos su PID grįžtamuoju ryšiu. Pateikia-
mas algoritmas apsaugos nuo virpesių sistemos paramet-
rams nustatyti GA metodu. Skaitmeniniais metodais nusta-
tytas tiltinio keltuvo apsaugos nuo virpesių sistemos
UWKS darbo efektyvumas.
K. Kaczmarek, A. Nowak
OPTIMIZATION OF THE VIBROISOLATION
SYSTEMS OF CRANE CABIN USING GENETIC
ALGORITHM
Summary
In the paper the problem of the optimization of
vibroisolation systems for machines using genetic algo-
rithm GA is presented. The modelling of passive and ac-
tive vibroisolation systems with control feedback subsys-
tem type PID is shown. The method of design of the vi-
broisolation with optimal parameters system using GA
algorithm was realized. As an example numerical calcula-
tions of the quasizero stiffness vibroisolation system type
UWKS for bridge crane cabin are performed.
K. Kaczmarek, A. Nowak
ОПТИМИЗАЦИЯ ВИБРОЗАЩИТНЫХ СИСТЕМ ДЛЯ
КАБИН МОСТОВЫХ КРАНОВ МЕТОДОМ
ГЕНЕТИЧЕСКИХ АЛГОРИТМОВ
Резюме
В работе представлена проблема оптимизации
виброзащитных систем методом генетических алго-
ритмов (ГА). Рассмотрены пассивные и активные виб-
розащитные системы с ПИД элементом. Дан алгоритм
для определения параметров виброзащитной системы
методом ГА. Численные расчёты были проведены на
примере виброзащитной системы типа УВК кабины
мостового кранаִ
Received March 28, 2007