倒立摆系统的一种H_∞优化控制  

H-infinity optimization control for inverted pendulum

作　　者：曾德良[1] 刘玉燕[1] 刘吉臻[1] 张丽娟[1] 曲海云[1] 

机构地区：[1]华北电力大学自动化系,河北保定071003

出　　处：《控制理论与应用》2004年第5期717-719,共3页Control Theory & Applications

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.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.

关 键 词：倒立摆 H∞环路成形 权函数 遗传算法 PID控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]