基于混合遗传算法的力矩受限圆轨二级倒立摆摆起控制  

Swing-up control under limited torque of rotary double inverted pendulum based on hybrid genetic algorithms

作　　者：么健石[1] 曾鹏鑫[1] 徐心和[1] 

机构地区：[1]东北大学教育部暨辽宁省流程工业综合自动化重点实验室,辽宁沈阳110004

出　　处：《控制理论与应用》2005年第4期615-618,共4页Control Theory & Applications

基　　金：国家863计划资助项目(2001AA422270).

摘　　要：为了实现力矩受限时圆轨二级倒立摆非线性系统的摆起控制,提出了一种新的开环优化控制策略.该策略通过在规定的时间内向系统施加一前馈控制序列,使上、下摆杆从自然悬垂位置摆到倒立点位置并使速度为零.为了获得最优摆起控制序列,采用混合遗传算法进行优化计算,通过编码操作解决控制力矩受限问题.仿真实验证明,该策略是有效和可行的,并为其他非线性多变量系统的控制提供了有效方法.To realize the swing-up control of nonlinear double inverted rotary pendulum under limited torque,an open-loop control strategy is presented. Within the specified time limit, the strategy detemlines and implements an optimal feed-forward control sequence to the system, swings up the double inverted pendulum from its hanging position, and achieves zero speed state at the upright position. The hybrid genetic algorithms are employed to get the better optimization control law, and the problem of limited torque is solved by individual representation operation. Numerical simulations confirm the strategy＇ s validity and feasibility.This strategy provides an effective solution to other nonlinear multivariable control systems as well.

关 键 词：圆轨二级倒立摆 摆起控制 力矩受限 混合遗传算法 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]