基于人工蜂群优化的环形二级倒立摆H_∞鲁棒控制器设计  

Robust Controller Design for Double Inverted Pendulum Based on Artificial Bee Colony Optimization

作　　者：张谦[1] 高容翔 王海泉[1] 廖雷[1] 

机构地区：[1]中原工学院电子信息学院,郑州450007

出　　处：《计算机测量与控制》2015年第8期2699-2702,共4页Computer Measurement &Control

摘　　要：采用H∞回路成形控制方法实现环形二级倒立摆系统的平衡控制;对于H∞回路成形控制器来说,权函数的选择直接影响控制器性能,而往往权函数的选择是需要通过设计人员的不断试凑来完成,不仅设计效率低下,而且无法得到最优的控制性能;因此引入人工蜂群算法,依靠其优异的全局寻优能力,完成对H∞回路成形控制器权函数的求解并保证最优的控制器性能;仿真结果表明,蜂群算法能够寻优到最优的权函数参数,对应的H∞控制器能够保证环形二级倒立摆在受到外界干扰的情况下依然保持在平衡位置。In this paper, H∞ loop shaping controller was adopted to realize balance control of double inverted pendulum system. The choice of weight function directly affect controller performance for H∞loop shaping controller. Weight function is often got by trial and error of designer. This method is not only inefficient, but unable to get the optimal control performance. This paper introduces artificial bee colony algorithm. The algorithm has excellent global optimization ability and can get the weight function of H∞ loop shaping controller and ensure the optimal controller performance. The simulation results show that artificial bee colony algorithm can achieve the desired weight function parameters. H∞ loop shaping controller can keep the double inverted pendulum system the equilibrium position by outside interference.

关 键 词：人工蜂群算法 H∞回路成形控制器 环形二级倒立摆 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]