【正文】 它輸入到與干擾液壓缸連接的伺服閥上。干擾液壓缸僅僅是用來在輥縫控制中對系統(tǒng)產(chǎn)生干擾而已。加載在輥縫液壓缸上的壓力通過負載單元測得。它用來改善在熱軋鋼板工藝中的厚度控制性能（ Gizburg， 1984； Lee，Lim amp。為了驗證獲得的結(jié)果，做出增益區(qū)間內(nèi)適應(yīng)函數(shù)的拓撲矩陣并分析。特別是在 真實的實驗性系統(tǒng)中對候選對象進行進化的情況下，由于 ES 的自適應(yīng)特點所以 ESs比其他進化算法都合適。 ES是一種基于自然遺傳學(xué)和適者生存法則的進化算法（ Rechenberg ， 1973； Schwefel，1981； Back amp。為了研發(fā)液壓驅(qū)動系統(tǒng)控制器增益的自動調(diào)整裝置，人們已經(jīng)對模糊增益適配裝置的應(yīng)用進行了研究（ Jeon， 1997； Klein， 1992）。其中，流體的特性是由管道的形狀所決定的。因為液壓驅(qū)動系統(tǒng)高度非線性的特點 ,所以準(zhǔn)確地模擬這些系統(tǒng)是很困難的。 Hong， 1998； Hyun amp。優(yōu)化的結(jié)果可由進化策略和拓撲中的最大峰值的重合點獲得。在本論文中針對以熱軋鋼板中輥縫的控制為代表的液壓軋管機電液位置控制系統(tǒng)，設(shè)計了時間延時控制器，并且通過基于進化策略的一系列實驗直接優(yōu)化了控制器的三個控制參數(shù)。 Schwefel, 1996). The differences can be summarized as follows. ESs operate on ?oating point vectors, whereas classical GAs operate on binary vectors. It makes that optimized results in GAs are limited by resolution of discrete spaces because search spaces are discrete spaces into which real values are coded. However, some researchers have modi?ed to use realvalued vectors in GAs, and recently GA applications frequently use ?oating point representation for parameter optimization problems (Michalewicz, 1996。 Reddy, 1992). Thirdly the saturation of actuators or a controller, the friction characteristics of the system, etc. are able to bee causes to obstruct the trajectory following (Chang amp。 Ito, 1990。 Back amp。Cho, 2020). In general, when control engineers design controller for hydraulic or pneumatic servo systems, it is very dif?cult to determine theoretically its control gains to exhibit the best performance of the systems, because the accurate modeling for these systems is hard due to highly nonlinear characteristics of the ?uid power systems. To be more speci?c, the hydraulic and pneumatic servo systems already have a relatively higher degree of nonlinearity than other mechatronic systems like DC or AC servo systems. It results from various factors (Merrit, 1976。 Hong, 1998。 Electrohydraulic servo system 1. Introduction Recently, the research on the optimization and adaptation of controller gains or parameters for improving the system performance in hydraulic and pneumatic servo systems has been a ?eld of increasing interest (Fleming amp。中文 4189 字 出處： Control Engineering Practice, 2020, 14(2): 137147 外文翻譯 學(xué)生姓名 學(xué)院名稱 機電工程學(xué)院 專業(yè)名稱 機 械 設(shè)計制造 及 其 自 動 化 指導(dǎo)教師 An experimental study on the optimization of controller gains for an electrohydraulic servo system using evolution strategies MY Kim, CO Lee Abstract This paper deals with an experimental optimization problem of the controller gains for an electrohydraulic position control system through evolution strategies (ESs)based method. The optimal controller gains for the control system are obtained by maximizing ?tness function designed specially to evaluate the system performance. In this paper, for an electrohydraulic position control system which would represent a hydraulic mill stand for the rollgap control in plate hotrollings, the time delay controller (TDC) is designed, and three control parameters of this controller are directly optimized through a series of experiments using this method. It is shown that the nearoptimal value of the controller gains is obtained in about 5th generation, which corresponds to approximately 150 experiments. The optimal controller gains are experimentally con?rmed by inspecting the ?tness function topologies that represent system performance in the gain spaces. It is found that there are some local optimums on a ?tness function topology so that the optimization of the three control parameters of a TDC by ma nual tuning could be a task of great dif?culty. The optimized results via the ES coincide with the maximum peak point in opologies. It is also shown that the proposed method is an ef?cient scheme giving economy of time and labor in optimizing the controller gains of ?uid power systems experimentally. Keywords: Controller gain optimization。 Automatic controller gain search。 Jeon, Lee, amp。 Choi, Lee, amp。 Schwefel, 1981。 Park, 1997). The rig simulates a rollgap control system posed of a hydraulic mill stand in a number of automatic gauge control systems for hot rolling processes. The system consists of structure spring to represent a modulus of mill stand, material spring to represent a modulus of rolled strip, rollgap control cylinder to control a deformation of material spring, and disturbance cylinder to give the control system a disturbance. The force applied to rollgap cylinder is measured through