基于混沌最优控制的二级倒立摆的实验研究  

Experiment of double inverted pendulum based on chaos optimal control

作　　者：孙红兵[1,2] 李生权[2] 

机构地区：[1]淮阴师范学院电子与电气工程系,淮安223300 [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

出　　处：《机械设计与制造》2010年第9期210-212,共3页Machinery Design & Manufacture

基　　金：国家自然基金面上项目(50775101);近代声学教育部重点实验室开放课题(200902);江苏省高校自然科学基金(08kjd560009);淮安科技发展项目(HAG07022)

摘　　要：为解决LQ控制多变量系统时,权矩阵参数难以确定的问题,在引入一种与系统动态性能密切相关的性能指标基础上,提出混沌全局粗搜索和局部细搜索相结合优化LQ控制二级倒立摆。该方法既是线性二次型泛函意义下的最优,又能解决具有快速、强非线性、绝对不稳定系统的控制问题。二级倒立摆实验结果证实了该方法的有效性。A method of controlling double inverted pendulum is presented. Chaos optimization linear quadratic controller based on the dynamic performance index is proposed,in order to solve the choice of weighting matrix problem in LQ control multi-variable. The controller designed by the approach can satisfy the performance index of linear quadratic. It is also helpful to control the systems which have the characteristics of quick speed,serious nonlinear and absolutely unstable. The real-time control curves of the double inverted pendulum show the effectiveness and practieability of this method.

关 键 词：混沌 LQ控制 二级倒立摆 性能指标 实验 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]