| 引用本文: | 曾德良, 刘玉燕, 刘吉臻.倒立摆系统的一种H∞优化控制[J].控制理论与应用,2004,21(5):717~719.[点击复制] |
| ZENG De-liang, LIU Yu-yan, LIU Ji-zhen, ZHANG Li-juan, QU Hai-yun.H-infinity optimization control for inverted pendulum[J].Control Theory and Technology,2004,21(5):717~719.[点击复制] |
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| 倒立摆系统的一种H∞优化控制 |
| H-infinity optimization control for inverted pendulum |
| 摘要点击 1670 全文点击 1948 投稿时间：2004-04-30 |
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| DOI编号 10.7641/j.issn.1000-8152.2004.5.010 |
| 2004,21(5):717-719 |
| 中文关键词 倒立摆 H∞环路成形 权函数 遗传算法 PID控制器 |
| 英文关键词 inverted pendulum H-infinity loop shaping weigh |
| 基金项目 |
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| 中文摘要 |
| 在运用H∞环路成形设计方法时权函数的选择一般是凭经验试凑,不能保证所得控制器综合指标最优;且控制器阶次较高,不便于工程实现和参数调整.鉴于以上问题,提出了基于遗传算法的权函数选取方法,在遗传算法的目标函数里加入对鲁棒性能和时域性能指标的约束,从而得到使控制器综合性能指标最优的权函数,避免了凭经验试凑权函数的盲目性;然后,给出一种用多变量PID控制器逼近此控制器的方法,使所得控制器便于实际运用.最后用此方法对小车倒立摆系统进行仿真,结果表明了该方法的有效性. |
| 英文摘要 |
| The weight functions selection relies largely on devisers' intuition and experience concerning H-infinity loop shaping concepts,so the synthetical performance index of controller is not optimial.And it is difficult to implement high-order controllers obtained by this method.To avoid choosing weight functions by trial-error,a new approach is proposed based on the genetic algorithm.The robust performance and time domain index were considered in objective function.The weight functions could be achieved which optimize the controller.Then,the high-order controller was approximated with PID which can be easily realized in practice.Finally,simulation showed the effectiveness of the presented method for inverted pendulum. |
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