基于改进遗传算法的环形倒立摆PID参数整定  

Parameter Tuning of PID Controller for Annular Inverted Pendulum System Based on Improved Genetic Algorithm

作　　者：陈文 徐晓龙 钟晓伟 窦文涛 CHEN Wen;XU Xiao-long;ZHONG Xiao-wei;DOU Wen-tao(College of Internet of Things Engineering,Hohai University,Changzhou Jiangsu 213022,China)

机构地区：[1]河海大学物联网工程学院,江苏常州213022

出　　处：《计算机仿真》2021年第3期165-169,共5页Computer Simulation

基　　金：国家自然科学基金资助项目(61671202);国家重点研发计划(2016YFC0401606);河海大学创新创业训练计划项目(国家级)(201910294086Z)。

摘　　要：针对传统的环形倒立摆PID控制器参数整定方法主观性强,系统响应性能不佳等问题,提出来了一种基于改进遗传算法的环形倒立摆PID参数整定方法。采用仿真研究方法,比较了试凑法、遗传算法和改进遗传算法求取的PID控制器参数对环形倒立摆的控制效果。实验表明,相比于试凑法,遗传算法得到的PID控制器参数使系统的超调量减小、调节时间缩短;改进的遗传算法得到的PID控制器参数使系统的响应性能进一步优化。改进遗传算法求取PID控制器参数的方法对于环形倒立摆以外的控制系统也有借鉴作用。The traditional PID controller parameter tuning method of loop inverted pendulum has strong subjectivity,and the controlled system response performance is not good.Aiming at the problem,a method is proposed based on improved genetic algorithm to obtain the PID controller parameters.The effects of PID controller were compared,using the parameters acquired from trial and error method,genetic algorithm and improved genetic algorithm.Simulation experiments show that compared with the empirical trial and error method,the PID controller parameters obtained by the genetic algorithm greatly reduce the overshoot and shorten the adjustment time of the system;and the PID controller parameters obtained by the improved genetic algorithm further optimize the system response performance.The method can also be used as a reference for the control system other than the annular inverted pendulum.

关 键 词：环形倒立摆 参数整定 改进遗传算法 

分 类 号：TN273.4[电子电信—物理电子学]