畜禽养殖废弃物的合理处置,是农村生态环境治理与污染防治的关键点。为解决畜禽养殖废弃物的运输路径问题,提出一种改进鲸鱼优化算法的车辆路径优化方法。首先,在车辆路径优化问题的基础上,建立以总路程最小化为目标的畜禽养殖废弃物运...畜禽养殖废弃物的合理处置,是农村生态环境治理与污染防治的关键点。为解决畜禽养殖废弃物的运输路径问题,提出一种改进鲸鱼优化算法的车辆路径优化方法。首先,在车辆路径优化问题的基础上,建立以总路程最小化为目标的畜禽养殖废弃物运输路径优化模型;其次,结合离散型问题特征和鲸鱼优化算法的寻优思想,提出改进鲸鱼优化算法。引入升序排列(ranked order value,ROV)转换机制使该算法能够求解离散问题,对每次迭代结果进行聚类分析,将优秀个体所在类依次进行基于位置的交叉(position-based crossover,PBX)操作和逆序变异操作,同时保证了种群的多样性和算法的求解效率;最后,对9个Solomon算例和1个实例进行仿真实验,并与改进粒子群优化算法、改进灰狼优化算法和改进蚁群算法进行对比。结果表明,改进鲸鱼优化算法在9个案例中均优于其他算法,在最复杂的RC103案例中,求解结果相较于其他算法至少提高14.64%,体现了改进鲸鱼优化算法有更高的求解精度和稳定性;对于畜禽废弃物运输实例仿真实验,改进鲸鱼优化算法比其他算法分别提高4.9%、6.5%和43.7%,证明本文算法能够有效地解决畜禽养殖废弃物运输路径优化问题。展开更多
The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this p...The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.展开更多
文摘畜禽养殖废弃物的合理处置,是农村生态环境治理与污染防治的关键点。为解决畜禽养殖废弃物的运输路径问题,提出一种改进鲸鱼优化算法的车辆路径优化方法。首先,在车辆路径优化问题的基础上,建立以总路程最小化为目标的畜禽养殖废弃物运输路径优化模型;其次,结合离散型问题特征和鲸鱼优化算法的寻优思想,提出改进鲸鱼优化算法。引入升序排列(ranked order value,ROV)转换机制使该算法能够求解离散问题,对每次迭代结果进行聚类分析,将优秀个体所在类依次进行基于位置的交叉(position-based crossover,PBX)操作和逆序变异操作,同时保证了种群的多样性和算法的求解效率;最后,对9个Solomon算例和1个实例进行仿真实验,并与改进粒子群优化算法、改进灰狼优化算法和改进蚁群算法进行对比。结果表明,改进鲸鱼优化算法在9个案例中均优于其他算法,在最复杂的RC103案例中,求解结果相较于其他算法至少提高14.64%,体现了改进鲸鱼优化算法有更高的求解精度和稳定性;对于畜禽废弃物运输实例仿真实验,改进鲸鱼优化算法比其他算法分别提高4.9%、6.5%和43.7%,证明本文算法能够有效地解决畜禽养殖废弃物运输路径优化问题。
基金Project(50375139) supported by the National Natural Science Foundation of ChinaProject(NCET-04-0545) supported by the New Century Excellent Talent Plan of the Ministry of Education of China
文摘The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.
