制御機를 利用한 構造物의 最適 姿勢 制御 設計에 關한 硏究
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New recent electronic improvement have made human life and technical solution improve excessively. And these developments make control engineering be important. Now present engineering science including mechanics may not be consider without control part. Previous optimization problem of structures have been separated from control problem though most of mechanism have a part for its control. But, theoretical study including both parts having risen at present. For example, A position-control of a space shuttle and an artificial satellite, an elasticity structures of a gravity-free state, have assaulted dynamic force controlled using controllers, if an elasticity structures has exchanged to communicate information between the communication system of the earth and an antenna of an elasticity structures. A position-control of an elasticity structures are in need of optimal position of controller in order to minimizing stoppage of communicate information. But, most of these theoretical method are so complex and require high level knowledge of mathematics because of using design sensitivity that must be objective function is continuous and differentiable. So, In this study, be used GA(Genetic Algorithm) at optimal position control design of controller. Because of GA can use effectively to mixed problem of optimal control theory and optimal structure design, its adopted field will be larger than any optimization method. First, for optimal control of given mechanical system LQ method is used. The origin of this method is the linear optimal control theory. Thus, J, so called performance criterion is defined as linear algebraic equation of input vector and that status. Optimal controller will have minimum performance criterion. For minimum J, after defining Hamiltonians(H) using iterative method we find S that is solution of ARE(Algebraic Ricatti Equation). For analysis, FE(Finite Element) structure is used modelling using 4-node plate element with full DOF(Degrees-of-Freedom) plate element(Membrance + Plate). The reason of using 4-node plate element is a position-control optimization of optimal position control design of elasticity structure into GA as searching integer design variables. In this study, be used integer crossover operator and mutation operator in using GA with integer design variables, because of search range of design variables are exceed, if we are not used general crossover operator and mutation operator. I did confirm GA can sole effectively given mixed problem of control and structural optimization except before complex theoretical process, and will have large fields of various and problem.