一类非线性欠驱动系统的混沌优化LQ控制  

LQ Controller Design for Nonlinear Underactuated System Based on Chaos Search

作　　者：李生权[1] 汪发亮[1] 张绍德[1] 

机构地区：[1]安徽省电力电子与运动控制重点实验室安徽工业大学电气信息学院

出　　处：《计算机测量与控制》2008年第3期343-345,共3页Computer Measurement &Control

基　　金：安徽省教育厅自然科学基金资助项目(2004KJ059)

摘　　要：提出了一种基于混沌优化线性二次最优控制器权矩阵参数的三级倒立摆控制方法;根据系统控制的目标,设计了一类适合多变量系统的优化性能指标函数;这类性能指标函数综合考虑三级倒立摆系统各个输出间的重要程度,以及动态特性和稳定性要求,结合文中的性能指标函数,首先利用混沌粗搜索得到控制器权矩阵参数的次优解,再在次优解的邻域内继续寻优,得到全局最优的权矩阵参数;利用这种方法得到的LQ控制器,有效地实现了对三级倒立摆的稳定控制。A new method based on chaotic optimization linear quadratic control is proposed to realize real time control of triple inverted pendulum.After fully considering the desired aim of the system,a synthesis performance index suited for the multivariable system is designed.The weighting matrix of LQ controller is optimized by chaos method based on the cost function considering each output and dynamic characteristics and stability of the triple inverted pendulum.Firstly,chaos factors are applied to searching for the matrix parameters of LQ controller and direct optimization within global range to get the suboptimal.Then the searching space of variables keeps continually reduced within the neighborhood of suboptimal parameter,till the global weight coefficients are acquired.The LQ controller optimized by the approach is applied to control a triple inverted pendulum and good result is obtained.

关 键 词：混沌 LQ控制器 三级倒立摆 实时控制 性能指标 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]