基于灾变遗传算法的惯性轮倒立摆LQR控制优化  

LQR Control Optimization of Inertial Wheel inverted Pendulum Based on Catastrophic Genetic Algorithm

作　　者：夏敦 周振华[1] Xia Dun;Zhou Zhenhua(College of Automotive and Mechanical Engineering,Changsha University of Science & Technology,Changsha,410114,China)

机构地区：[1]长沙理工大学汽车与机械工程学院

出　　处：《南方农机》2019年第17期51-54,共4页

摘　　要：针对传统LQR控制的加权矩阵选取麻烦和遗传算法未成熟收敛的问题,提出基于灾变遗传算法的LQR控制方法。以惯性轮倒立摆为被控对象,运用拉格朗日方程建立数学模型;基于遗传算法来优化目标函数从而确定加权矩阵,并引进灾变算子解决遗传算法的未成熟收敛问题。仿真结果表明,所设计的基于灾变遗传算法的优化LQR控制器可实现对惯性轮倒立摆的控制,其控制精度和系统性能都优于经普通遗传算法优化的线性二次型控制器。Since traditional LQR control has the problem of cumbersome selection of weighting matrix and the premature convergence of genetic algorithm,a LQR control method based on catastrophe genetic algorithm is proposed.Taking inertial wheel inverted pendulum as the controlled object,the Lagrange equation is used to establish the mathematical model.Based on genetic algorithm,the objective function is optimized to determine the weighted matrix,and the catastrophe operator is introduced to solve the premature convergence problem of genetic algorithm.The simulation results show that the optimized LQR controller based on catastrophe genetic algorithm can realize the control of the inertial wheel inverted pendulum,and its control precision and system performance are better than the traditional linear quadratic controller optimized by ordinary genetic algorithm.

关 键 词：惯性轮倒立摆 LQR控制 未成熟收敛 灾变遗传算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]