基于遗传算法PID的旋转式倒立摆控制

旋转式倒立摆系统是一个多变量、强非线性、强耦合的不稳定系统,是人们检验、比较各种控制理论和方法的理想试验平台,国内外许多机构对它进行了广泛的研究,如何对其进行有效控制一直是控制界的一大热点.分析了旋转式倒立摆的数学模型,然后用Matlab建立了它的仿真模型,利用PID控制器对其进行控制.为了避免手工整定PID参数的繁琐过程,用遗传算法对旋转式倒立摆PID控制器的控制参数进行寻优,并以此来控制旋转式倒立摆.仿真结果表明利用遗传算法寻优设计的PID控制器来控制旋转式倒立摆可以获得很好的动态品质和稳定性.

Control of Revolving Inverted Pendulum Based on GA PID Controller

Revolving inverted pendulum is an unstable system with multi-value,strong nonlinearity and strong eouping. It is always the ideal research platform, many organizations have done lots of works. How to control it effectivdy is a focus of control field. In this paper, analyze the math mode of revolving inverted pendulum, then build its emluator model use Matlab and control it use PID controller. It is an effective approach to use GA to find the global optima of the three parameters for a PID controller of a revolving inverted pendulum. The simulation result shows that the PID controller based on GA has a good dynamic quality and stability.