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Koeficient a13 pro polohy z1, z2
Koeficient a11 pro polohy z1, z2
1
1
0.9
0.8
0.8
0.6
a13 [−]
a11 [−]
0.7
0.6
0.4
0.2
0.5
0.4
0.3
0.2
0
1
0.1
0
0.8
0.2
0.6
0
0
0.4
0.4
0.6
0.2
0
0.2
0.5
0.4
0.6
0.8
0
1
z2 [−]
z1 [−]
0.8
1
1
z1 [−]
z2 [−]
/ A(QH 4 7C C $ C( $ Koeficient a15 pro polohy z1, z2
"
1
0.8
0.8
a17 [−]
0.6
0.4
0.6
0.4
0
0
0.2
0
0
0.2
0.5
0.2
0.4
0.6
0.8
1
1
0
0
0.5
0.2
0.4
0.6
z1 [−]
z2 [−]
0.8
1
1
1
0.8
0.8
0.6
0.6
0.4
0.2
0
0.2
0.4
0.4
0.6
0.6
z2 [−]
0.8
0.8
1
1
"
(
Koeficient a35 pro polohy z1, z2
a35 [−]
a33 [−]
Koeficient a33 pro polohy z1, z2
0.2
z1 [−]
1
z2 [−]
/ A(MH 4 7C C $ C( $ 0
0
(
Koeficient a17 pro polohy z1, z2
1
a15 [−]
0.4
0.2
0
0
0
0.2
0.2
0.4
0.4
0.6
0.6
z1 [−]
0.8
0.8
1
1
z1 [−]
z2 [−]
/ A(UH 4 7C C $ C( $ "
(
Koeficient a37 pro polohy z1, z2
Koeficient a55 pro polohy z1, z2
1
1
0.8
0.8
a55 [−]
0.6
a37 [−]
PM
0.4
0.6
0.4
0.2
0.2
0
0
0
0.2
0.4
0.6
0.8
1
1
0
0
0
0.5
0.2
0.5
0.4
0.6
0.8
1
z1 [−]
1
z1 [−]
z2 [−]
z2 [−]
/ A(OH 4 7C C $ C( , 7 + 7 F$ (
F$ "
Koeficient a57 pro polohy z1, z2
"
Koeficient a77 pro polohy z1, z2
1
0.9
0.8
0.7
a57 [−]
0.6
1
0.5
0.8
0.4
a77 [−]
0.3
0.2
0.6
0.4
1
0.1
0.8
0.2
0
0
0.6
0
1
0.5
1
0.8
0.6
0.4
0.2
0
0.4
0.8
1
0.2
0.6
0.4
z2 [−]
z1 [−]
0.2
z2 [−]
/ A(NH 4 7C C $ C( $ Koeficient a35 pro polohy z1, z2 a uhly fi1=75 deg, fi2=50 deg
z1 [−]
0
0
"
(
Koeficient a35 pro polohy z1, z2 a uhly fi1=65 deg, fi2=62 deg
0.08
0.03
0.07
0.025
0.06
0.02
a35 [uT]
a35 [uT]
0.05
0.04
0.03
0.02
0.015
0.01
0.005
0.01
0
0
0
0
0.2
0.2
0.4
0.4
0.6
0.8
1
z1 [−]
0
0.2
0.4
z2 [−]
0.6
0.8
1
0.6
0.8
1
z1 [−]
0
0.2
0.4
0.6
0.8
1
z2 [−]
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Evolution of the Parameters z1i
1.8
1.6
1.4
z1i[−]
1.2
1
0.8
0.6
0.4
0.2
0
20
40
60
80
100
120
Individual
140
160
180
200
/ E(QH 8 8# 8$ #" 8$ C ( /#
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C9 8 9
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Topologie objektivni funkce X−korekce pro polohy z1 a z2
sum(a13, a15, a17, a33) [−]
1
0.8
0.6
0.4
0.2
0
0
0
0.2
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1
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Postupné odhady parametrù
Vyvoj optimalizovanych parametru v case
1.8
1.5
1.6
Relativni polohy z(i)
Hodnota parametru
1.4
1.2
1
0.8
1
0.5
0.6
0.4
0.2
0
500
1000
1500
2000
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2500
3000
3500
0
0
4000
1000
2000
3000
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4000
5000
6000
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Vyvoj hodnot objektivni funkce v case
QO
Diverzita populace v posledni generaci
−3
−7.3064
0
x 10
−0.2
−7.3065
Hodnoty objektivni funkce
Hodnoty objektivni funkce
−0.4
−0.6
−0.8
−1
−1.2
−7.3065
−7.3065
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−7.3065
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4000
5000
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0
6000
10
20
30
40
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50
60
70
80
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150
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Topologie objektivni funkce XZ2−korekce pro polohy z1, z2
Topologie objektivni funkce XZ2−korekce pro polohy z1, z2
1
1
0.9
sum ( a11, a15, a17, a33, −a13)
sum ( a11, a15, a17, a33, −a13)
0.8
0.6
0.4
0.2
0
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0
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0
0.5
1
1
0.6
0.8
0.2
0.4
0
0.5
1
z1 [−]
z2 [−]
1
0.8
0.6
0.4
0.2
0
z1 [−]
z2 [−]
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12
2
MP
x 10
0
−2
f (x) [ − ]
−4
−6
−8
−10
−12
−14
0
100
200
300
400
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500
600
700
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Hodnoty koeficientu a(m,n) v zavislosti na relativni poloze z
1.5
a11
1
a(m,n)
[−]
a33
0.5
a15
0
a17
−0.5
−1
0
a13 (max)
0.2
0.4
0.6
0.8
1
z [−]
1.2
1.4
1.6
1.8
2
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B_z [ T ]
−6
x 10
250
200
1
150
100
0.5
Z [ mm ]
50
0
0
−50
−0.5
−100
−150
−1
−200
−250
−250 −200 −150 −100
−50
0
50
Y [ mm ]
100
150
200
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B_z [ T ]
x 10
50
8
40
6
30
4
20
2
10
Z [ mm ]
−6
0
0
−2
−10
−4
−20
−6
−30
−8
−40
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−50
−10
0
Y [ mm ]
50
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B_z [ T ]
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x 10
1
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0
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50
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0
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−50
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150
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100
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Z
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50
0
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100
200
50
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60
100
0
0
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40
20
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−20
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Y
−100
−200
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Topologie objektivni funkce XZ4 korekce pro polohy z1 a z2
Topologie objektivni funkce XZ4−korekce pro polohy z1, z2
1
1
0.9
0.9
0.8
sum(a11, a13, a17, a33) [−]
sum(a11, a13, a17, a33) [−]
0.8
0.7
0.6
0.5
0.4
0.3
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0.2
0
0
0.1
0.5
0
0
0.1
0.2
0.3
0.4
0.5
z2 [−]
0.6
0.7
0.8
0.9
1
1 0.5 0
z1 [−]
1
0.6
0.8
0.4
0.2
0
z1 [−]
z2 [−]
/ E(AEH 4 8$ 7C C $ C "" " # C(
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1.12
1.1
1.08
1.06
1.04
1.02
1
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2.5
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x 10
X [ mm ]
50
−7
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6
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2
0
0
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−2
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−4
−30
−6
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−50
−50
0
Z [ mm ]
50
/ E(AUH ) .$ VSP " VS( c # "(
B_z [ T ]
−6
x 10
1
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0.5
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0
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x 10
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meta−ES algoritmus
GA algoritmus
300
200
180
250
160
140
Cetnost [ − ]
Cetnost [ − ]
200
150
100
120
100
80
60
40
50
20
0
0.04
0.06
0.08
0.1
0.12
Relativni poloha proudovodice z1 [ − ]
0.14
0.16
0
0.04
0.06
0.08
0.1
0.12
0.14
Relativni poloha proudovodice z1 [ − ]
0.16
0.18
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Optimalizacni trajektorie GA pro prvnich 100 generaci
0
−1
−2
−1.2
−4
−1.4
−6
−8
f (x) [ − ]
−1.6
f (x)
Optimalizacni trajektorie GA
−0.8
−1.8
−10
−2
−12
−2.2
−14
−2.4
−16
−2.6
−18
−2.8
0
10
20
30
40
50
60
Generace [ − ]
70
80
90
100
−20
0
500
1000
1500
2000 2500 3000
Generace [ − ]
3500
4000
4500
5000
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