This algorithm overcomes the deficiency of present methods in two aspects : ( 1 ) by introducing the mass matrix into optimal variable, the method broad the range of the optimization; ( 2 ) to solve the optimal problem with nonconvex constraint induced by control in structure, convexifying potential function is used to make the nonconvex constraint part to be convex, that reduce the complex of the algorithm greatly 该算法在以下两个方面突破了现有算法的局限性:将质量矩阵纳入优化变量,拓宽了优化范围;采用凸化势能函数处理将控制引入结构设计导致的非凸约束,大大降低了算法复杂度。