基于粒子群算法的倒立摆智能控制系统研究  

Research on Inverted Pendulum Intelligent Control System based on Particle Swarm Optimization

作　　者：董如意 王通 田冬旭 DONG Ruyi;WANG Tong;TIAN Dongxu(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin 132022,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022

出　　处：《吉林化工学院学报》2022年第1期53-57,共5页Journal of Jilin Institute of Chemical Technology

摘　　要：为了控制倒立摆保持稳定状态,选取直线一级倒立摆为研究控制对象,建立直线一级倒立摆数学模型,将粒子群算法(PSO)实际应用到直线一级倒立摆智能控制系统的关键参数优化,仿真验证PSO算法优化直线一级倒立摆的动态稳定性.仿真结果表明,基于粒子群算法对直线一级倒立摆的优化控制具有更快的收敛性和更优的稳定性.In order to control the inverted pendulum to maintain a stable state,the linear primary inverted pendulum is selected as the research control object,the mathematical model of the linear primary inverted pendulum is established,the particle swarm optimization(PSO)algorithm is applied to the key parameter optimization of the linear primary inverted pendulum intelligent control system,and the dynamic stability of the linear primary inverted pendulum optimized by PSO algorithm is verified by simulation.The simulation results show that the optimal control of linear inverted pendulum based on particle swarm optimization algorithm has faster convergence and better stability.

关 键 词：直线一级倒立摆 粒子群优化算法 智能控制 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]