Optimization Algorithm Research Of Mechanical Arm Control Based On Harmony Search

Mechanical arm is a nonlinear system which is multivariable and strong compiling,has parameter uncertainty and complicated structure.When the traditional control system is used to control the mechanical arm,the control effect is not ideal.Therefore,the controller is designed in this paper for mechanical arms,and genetic algorithm is introduced to the control scheme for its parameter optimization.This method can solve the problem that the traditional control scheme is low in stability,and it can relatively improve the control efficiency of the system.However,in this scheme,the overshoot amount of the system is not ideal,the control precision doesn't meet requirements either.Based on the above reasons,harmony search genetic algorithm(HSGA)is studied in this paper,and this algorithm is optimized through a new fusion form of genetic algorithm and harmony search algorithm.The optimized harmony search genetic algorithm is used in a controller of 6 degree of freedom(DOF)mechanical arm to optimize the controller parameters.The main research content of this paper is as follows.At first,the model of a 6 DOF mechanical arm is built,and then,based on the matrix analysis,the forward kinematics equation and the inverse kinematics equation of the mechanical arm are solved.Combing the above kinematics equation and physics principle,we got the dynamics equation of the mechanical arm using Lagrange equation representation.Aiming at the solved dynamics equation of the mechanical arm,the matching controller is designed for the mechanical arm.Secondly,the target function selection strategy of the controller is introduced.The improved genetic algorithm is used to optimize the parameter of the control system.The genetic algorithm with adaptive crossover probability and mutation probability can improve the flexibility of the system.The wholeoptimization process is shown in the paper.MATLAB is used to do the test,the results showed that this strategy improves the control efficiency and stability precision of the mechanical arm system.Thirdly,the HSGA is introduced in the paper,the new fusion method of harmony search algorithm and genetic algorithm is studied in the paper.The harmony search operation thinking is used in the initial population generating process of genetic algorithm.The whole operation flow and operation thinking of the optimized harmony search genetic algorithm is shown in the paper.Testing function is used to test the performance indicators of the optimized algorithm.And then,the optimized algorithm is used in the mechanical arm control.The parameters of the controller is optimized by the new algorithm.The whole optimization steps are shown.The system test results in MATLAB show that the control efficiency,stability precision are all improved,and this scheme can guarantee the overshoot amount be in a suitable scope.