| 基于混合算法的二级倒立摆LQR最优控制器设计 |
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| 引用本文： | 孔德帅. 基于混合算法的二级倒立摆LQR最优控制器设计[J]. 化工文摘, 2011, 0(9): 13-16 |
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| 作者姓名： | 孔德帅 |
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| 作者单位： | 北京航空航天大学宇航学院,北京100191 |
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| 摘 要： | 针对遗传算法寻优的速度和精度的不足，提出采用混合算法寻优的策略。以GIP-200型二级倒立摆为控制对象进行仿真，仿真结果表明基于混合算法的最优控制器能使系统调节时间更短、精度更高，对二级倒立摆的控制效果更为理想。
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| 关 键 词： | 二级倒立摆 LQR 混合算法 遗传算法 最优化 |
LQR Optimal Controller Design of Double Inverted Pendulum Based on Hybrid Algorithm |
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| KONG De-shuai. LQR Optimal Controller Design of Double Inverted Pendulum Based on Hybrid Algorithm[J]. , 2011, 0(9): 13-16 |
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| Authors: | KONG De-shuai |
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| Affiliation: | KONG De-shuai (School of Astronautics, Beihang University, Beijing 100191) |
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| Abstract: | For the shortcomings of speed and accuracy of genetic algorithm optimization, a hybrid algorithm is proposed to searching the optimized value. The simulation experiments are performed, which takes GIP-200-type double inverted pendulum as a control object. The simulation results show that the method designed for optimal controller enables the system smaller overshoot, higher precision and the control results to double inverted pendulum more satisfactory. |
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| Keywords: | double inverted pendulum LQR hybrid algorithm genetic algorithm optimization |
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