基于改进粒子群算法的旋转倒立摆PID参数整定  

PID Parameters Tuning of Rotary Inverted Pendulum Based on Improved Particle Swarm Optimization Algorithm

作　　者：贺迟来 徐晓龙 钟晓伟 张业宝 李嘉颖 HE Chi-lai;XU Xiao-long;ZHONG Xiao-wei;ZHANG Ye-bao;LI Jia-ying(College of Internet of Things Engineering,Hohai University,Changzhou 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：《自动化技术与应用》2021年第12期10-15,共6页Techniques of Automation and Applications

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

摘　　要：针对旋转倒立摆PID参数整定耗时费力且精度低的问题,对旋转倒立摆实验系统PID参数整定展开了研究。利用MATLAB进行仿真,分别采用试凑法、粒子群算法和改进粒子群算法求取了旋转倒立摆的PID参数。实验结果表明,相比于试凑法,通过粒子群算法得到的PID参数可使系统性能更优;改进后的粒子群算法寻优过程产生的超调量和达到收敛所需时间更小,得到的PID参数可进一步提高旋转倒立摆实验系统的性能。基于改进粒子群算法整定旋转倒立摆PID参数的方法在其他控制系统中也有参考价值。The article is aiming at the problem that PID parameter setting of rotary inverted pendulum which is time-consuming, laborious and limited accuracy. It carried out research on PID parameter setting of the rotary inverted pendulum experimental system. Using the traditional trial-and-error method, particle swarm algorithm and improved particle swarm algorithm, the PID parameters of the rotary inverted pendulum are obtained by MATLAB simulation. The simulation results show that compared with the traditional trial-and-error method, the response performance of the rotary inverted pendulum system is greatly improved by the PID parameters obtained by the particle swarm algorithm. The overshoot amount and the time required to reach the convergence of the improved particle swarm algorithm optimization process are effectively reduced. In addition, the obtained PID parameters can further improve the rotary inverted pendulum system performance. The improved particle swarm algorithm can be used for reference in other control systems besides the rotary inverted pendulum.

关 键 词：旋转倒立摆 PID参数整定 改进粒子群算法 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP273.4[自动化与计算机技术—控制科学与工程]