单级倒立摆的分数阶PI^λD^μ控制器设计  

Design of Fractional-order PI^λD^μ Controller for Single-inverted Pendulum

作　　者：李明杰[1] 赵志诚[1] 桑海[1] 

机构地区：[1]太原科技大学电子信息工程学院,太原030024

出　　处：《太原科技大学学报》2014年第1期19-23,共5页Journal of Taiyuan University of Science and Technology

基　　金：山西省自然科学基金项目(2012011027-4);太原科技大学研究生科技创新项目(20125013)

摘　　要：针对单级倒立摆系统的平衡控制问题,采用基于输出反馈双回路控制方案,提出了一种分数阶PDμ控制器设计方法。在建立了系统数学模型的基础上,基于闭环系统的特征多项式和系统稳定性及各种性能指标的要求,选取了合适的闭环主导极点,通过输出反馈控制器改变控制系统的极点位置来使闭环系统具有所期望的动态特性和渐进稳定,并利用微粒群(PSO)优化算法整定分数阶控制器参数。仿真结果表明:双回路分数阶PDμ控制器较整数阶PD控制器,收敛速度快,振荡小,能取得更好的控制效果。A double-loop control scheme based on output feedback is used to solve the system balance control prob- lem of single inverted pendulum, and a designing method of fractional order PD^ controller is proposed. After estab- lishing the mathematical model, the appropriate closed-loop dominant poles were selected according to the charac- teristic polynomial of the system, system stability and other kinds of performance requirements. The pole position was changed by output feedback controller of the control systemso that the desired dynamic characteristics and as- ymptotically stability were obtained. And particle swarm optimization （PSO）was used to tune fractional-order con- troller parameters. The simulation results show that double-loop fractional-order PD^μ controller has faster conver- gence, smaller oscillations and better control effect than integer-order PD controller.

关 键 词：单级倒立摆系统 分数阶PI^ΛD^Μ控制器 输出反馈 双回路控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]