Track Search of the Platform Simulating the Tank Engine´s Movement State*

The platform is a test-equipment which is used to simulate the tank engine´s movement state when the tank runs on the road. A multi-branches parallel manipulator with redundant branches driven by hydraulic power is adopted, which can meet the requirements of heavy load, high agility and complicated movement. Because of the peculiar structure of the system, the study introduced an improved genetic algorithm involving mechanism of simulated annealing with initial population gradually floating to carry out the six-dimension track searching. And it not only expatriated on the improved genetic algorithm involving mechanism of simulated annealing, but also contrasted and analyzed the results of simulation and experiment. The results of both the experiment and the analysis validate that the simulation result perfectly matches the result of the experiment. Furthermore, this method perfectly combines the global optimal characteristic of genetic algorithms and the local optimal specialty of simulated annealing algorithms. Adopting the technique of initial population gradually floating not only avoids premature convergence, but also has better effect on convergent speed, calculation accuracy and robust capability of initial value