球杆系统自适应遗传PID控制  

Adaptive Genetic PID Algorithm of Ball & Beam System

作　　者：刘克平[1] 史鹏飞[1] 

机构地区：[1]长春工业大学电气与电子工程学院,吉林长春130012

出　　处：《控制工程》2009年第2期173-175,共3页Control Engineering of China

基　　金：吉林省杰出青年基金资助项目(20060125);教育部留学回国人员科研启动基金资助项目(20070110)

摘　　要：遗传算法全局寻优参数,但训练时间较长; PID控制算法简单,却难以控制非线性复杂过程。将自适应遗传算法和PID相结合,可有效地改善控制效果。通过建立球杆系统机械部分模型、角度模型和电机模型,得到整个球杆系统的数学模型;设计基于遗传算法的自适应PID控制器,通过在线整定控制器参数,提高球杆系统的控制性能。仿真实验结果证明了该算法的控制效果良好,适应能力较强,具有算法简单、参数整定容易等优点。Genetic algorithm is a global optimization technique, while training parameters is a long time process. PID algorithm is diffi- cult to control nonlinear complex system. A new approach to combine genetic algorithm with PID algorithm could improve the control performance. The mechanical part model, the angle model and the direct servo motor of the ball ＆ beam system are set up respectively. Then the simple transfer function of the system is simplified. Based on genetic algorithm, an online adaptive PID controller is designed for the ball ＆ beam system to improve the system performance. Simulation results show that the control algorithm with online adaptive ability has good performance and the parameters tuning easily .

关 键 词：球杆系统 遗传算法 自适应控制 在线整定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]