基于混沌搜索的三级倒立摆LQ控制器设计  

LQ Controller Design for Triple Inverted Pendulum Based on Chaos Search

作　　者：姚荣斌[1] 李生权[2] 张绍德[3] 

机构地区：[1]连云港师范高等专科学校,连云港222006 [2]南京航空航天大学智能材料与结构航空科技重点实验室,南京210016 [3]安徽工业大学,安徽马鞍山243002

出　　处：《航天控制》2009年第2期3-7,共5页Aerospace Control

基　　金：安徽省教育厅自然科学基金资助项目(2004KJ059)

摘　　要：研究利用混沌优化的LQ控制方法对三级倒立摆系统进行闭环控制。首先将混沌变量引入LQ控制器的权矩阵参数域,并进行全局范围内直接寻优,当获得全局近似最优解后,再缩小寻优区间,在次优解附近继续寻优,得到全局最优权矩阵参数。仿真结果表明了该方法的有效性和具有良好的抗干扰能力。Linear quadratic optimum controller based on chaos optimization is employed to control triple inverted pendulum in this paper. The weighting matrix of LQ is optimized by chaos method. Firstly, chaos factors are applied to search for parameters of LQ and direct optimization within global range. Then the searching space of variables is continually reduced, based on the synthesis performance index when approximate global optimal solution are obtained. The simulation results of triple inverted pendulum show that the method is effective and has good ability of resistance to disturbance.

关 键 词：混沌 LQ控制器 三级倒立摆 参数最优化 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]