Control system of optimizing the function of machine assembly using GA-Fuzzy inference

• US 6,895,286 B2
• Filed: 12/01/2000
• Issued: 05/17/2005
• Est. Priority Date: 12/01/1999
• Status: Expired due to Fees

• Current Assignee: Sanshin Kogyo Kabushiki Kaisha, Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Harada, Hiroshi, Yamaguchi, Masashi, Kaji, Hirotaka, Matsushita, Yukio
• Primary Examiner(s): Follansbee, John
• Assistant Examiner(s): PEREZ DAPLE, AARON C
• Application Number:
  US09/727,424
• Publication Number:
  US 20010044661A1
• Time in Patent Office: 1,628 Days
• Field of Search: 706/8, 706/13, 706/3, 706/4, 700/28, 700/47, 700/50, 700/89, 700/169, 700/64, 700/9, 703/8
• US Class Current: 700/28
• CPC Class Codes: G05B 13/0265 the criterion being a learning criterion

Abstract

The invention provides an optimization device for a unitary apparatus that can obtain optimum characteristics as a combined apparatus, without losing user'"'"'s selectivity and unitary apparatus'"'"'s versatility. The optimization device includes an optimization process section that optimizes dynamic characteristics of the unitary apparatus using genetic algorithms and fuzzy inference, with functional characteristics of a combined apparatus as evaluation reference.

Claims

1. A method for optimizing operation of a machine assembly while being manipulated by a user, said machine assembly comprising plural replaceable devices, each device being operated by a control module, the input-output relationship of which control module is regulated by control parameters, said method comprising the steps of:

(a) operating the machine using control modules;

(b) during step (a), optimizing the input-output relationship of at least a single control module outputting at least a single variable, by coding into templates parameters fully or partially regulating said single control module, said templates of said single control module being subjected to heuristic processing, wherein the single control module uses fuzzy rules, and the control parameters include parameters defining the fuzzy rules and parameters defining coefficients of input and output of the single control module, wherein the parameters defining the fuzzy rules are evaluated based on (i) the user'"'"'s ultimate choice during the operation, and the parameters defining the coefficients of input and output of the single control module are evaluated based on (ii) a preselected target used separately, to obtain at least one fitted set of parameters at each evaluation for said single control module, the parameters of which are optimized to optimally output the single variable based on both of the evaluations; and

(c) operating the machine assembly using the optimized control module.

2. The method according to claim 1, wherein the control module comprises a main control module and an auxiliary control module for adjusting output of the main control module, and step (b) is conducted on the auxiliary control module.

3. The method according to claim 2, wherein the main control module and the auxiliary control module are arranged in series.

4. The method according to claim 2, wherein the main control module and the auxiliary control module are arranged in parallel.

5. The method according to claim 1, wherein the control module comprises a central control module and multiple local control modules each receiving signals from the central control module and outputting signals to the respective replaceable devices, and step (b) is conducted on the central control module.

6. The method according to claim 1, wherein the heuristic processing is evolutionary computation, and the templates are chromosomes.

7. The method according to claim 1, wherein the machine assembly is a watercraft.

8. The method according to claim 7, wherein the replaceable devices include a trim apparatus and an electronic throttle.

9. The method according to claim 1, wherein the evaluation of output of the machine assembly by the user'"'"'s ultimate choice and that by the preselected target are switched based on time or the user'"'"'s choice.

10. An optimization apparatus for optimizing an operation characteristic of a unitary apparatus that can be used as a combined apparatus by combining other apparatuses used by a user, the optimization apparatus comprising:

an optimization process device for optimizing the operation characteristic of the unitary apparatus, with a functional characteristic of the combined apparatus as an evaluation criterion, said optimization process device comprising;

(i) at least a single control module regulated by control parameters for controlling operation of the unitary apparatus, said single control module outputting at least a single variable;

(ii) an autonomous evolutionary process unit for optimizing the operation of said single control module by selecting a portion of the control parameters based on a predetermined evaluation criterion;

(iii) an autonomous evaluation unit for evaluating the operation of the unitary apparatus and providing the evaluation to the autonomous evolutionary process unit;

(iv) an interactive evolutionary process unit for optimizing the operation of said single control module by selecting another portion of the control parameters based on the user'"'"'s choice during the operation of the unitary apparatus; and

(v) an evaluation input unit for inputting by the user an evaluation of the operation of the unitary apparatus to the interactive evolutionary process unit,

wherein the parameters of the control module are optimized to optimally output the single variable based on both of the evaluations by the autonomous evolutionary process unit and the interactive evolutionary process unit.

11. The optimization apparatus of claim 10, wherein the control module is used as an auxiliary control module, and the optimization apparatus further comprises a basic control module for deciding a manipulated variable of the unitary apparatus, said auxiliary control module being arranged and connected in parallel to or in a series with the basic control module.

12. The optimization apparatus of claim 10, wherein the optimization operation unit carries out operation with regard to optimization using heuristics.

13. The optimization apparatus of claim 12, wherein the heuristics is an evolutionary calculation method.

14. The optimization apparatus of claim 10, wherein the unitary apparatus is a power generator for a combined apparatus, and the other apparatuses are a body of the combined apparatus.

15. The optimization apparatus of claim 10, wherein the unitary apparatus is an outboard motor and the other apparatuses are a hull.

16. The optimization apparatus of claim 10, wherein the unitary apparatus is an electrically-driven auxiliary power device and the other apparatuses are a bicycle or wheelchair.

17. The optimization apparatus of claim 10, wherein the unitary apparatus is an electronically-controlled fuel injection device of a motor and the other apparatuses are an electronic throttle device of the motor.

18. The optimization apparatus of claim 11, wherein the unitary apparatus is an electronic throttle device of a motor and the other apparatuses are an electronically-controlled fuel injection device of the motor.

19. The optimization apparatus of claim 11, wherein the unitary apparatus is a body of a robot and the other apparatuses are a head, arms and for legs of the robot.

20. The optimization apparatus of claim 11, wherein the unitary apparatus is an indoor machine of an air conditioner and the other apparatuses are an outdoor machine of the air conditioner.

21. The optimization apparatus of claim 11, wherein the unitary apparatus is an outdoor machine of an air conditioner and the other apparatuses are an indoor machine of the air conditioner.

22. An optimization apparatus for optimizing an operation characteristic of a unitary apparatus that can be used as a combined apparatus by combining other apparatuses used by a user, the optimization apparatus comprising:

an optimization process device for optimizing the operation characteristic of the unitary apparatus, with a functional characteristic of the combined apparatus as an evaluation criterion, said optimization process device comprising;

(i) at least a single control module regulated by control parameters for controlling operation of the unitary apparatus, said single control module using fuzzy rules and outputting at least a single variable, said control parameters including parameters defining the fuzzy rules and parameters defining coefficients of input and output of the single control module;

(ii) an autonomous evolutionary process unit for optimizing the parameters defining coefficients of input and output of the single control module based on evaluation by an autonomous evaluation unit;

(iii) the autonomous evaluation unit for evaluating the operation of the unitary apparatus and providing the evaluation to the autonomous evolutionary process unit;

(iv) an interactive evolutionary process unit for optimizing the parameters defining the fuzzy rules based on evaluation by an evaluation input unit; and

(v) the evaluation input unit for inputting by the user an evaluation of the operation of the unitary apparatus to the interactive evolutionary process unit,

wherein the parameters of the control module are optimized to optimally output the single variable based on both of the evaluations by the autonomous evolutionary process unit and the interactive evolutionary process unit.